DOC #:01.13.005602 GS2 USER MANUAL www.ydlidar.com Shenzhen EAI Technology Co.,Ltd.
CONTENTS 1 YDLIDAR GS2 LIDAR DEVELOPMENT KIT ..................................... 1 1.1 Development Kit ................................................................................. 1 2 USAGE UNDER WINDOWS .............................................................. 1 2.1 Device Connection ............................................................................. 1 2.2 Driver Installation ............................................................................... 2 2.
1 YDLIDAR GS2 LIDAR DEVELOPMENT KIT The development kit of YDLIDAR GS2 lidar (hereinafter referred to as GS2) is an accessory tool provided for performance evaluation and early development of the GS2. Through the GS2 development kit, and with the evaluation software, users can observe point cloud data scanned by GS2 on your environment or development on the SDK. 1.
FIG 2 YDLIDAR GS2 DEVICE CONNECTION Connect the adapter board with GS2 first, then connect the USB cable to the USB port of the adapter board and the PC. Note that the Type-C interface of the USB cable is connected to the USB_DATA of the USB adapter board. The drive current of USB interface of some development platforms or PC is not sufficient. GS2 need to be connected to the auxiliary power supply of +5V, otherwise the lidar will be abnormal. FIG 3 YDLIDAR GS2 AUXILIARY POWER SUPPLY 2.
FIG 4 YDLIDAR GS2 DRIVER VERSION SELECTION Double-click the exe file and follow the prompts to install it. FIG 5 YDLIDAR GS2 DRIVER INSTALLING After the installation is complete, right-click on [My Computer] and select [Properties]. On the open [System] screen, select [Device Manager] from the left menu to access the [Device Manager]. Expand [Port] to see the serial port name corresponding to the identified USB adapter, that is, the driver installation is successful. The following figure shows COM3.
FIG 6 YDLIDAR GS2 DRIVER INSTALLATION CHECK 2.3 Evaluation Software Usage YDLIDAR provides Point Cloud Viewer, a point cloud data visualization software LidarViewer for GS2 real-time scanning. Users can intuitively observe the GS2 scanning effect chart. GDL real- time point cloud data and real-time scanning frequency are provided on YDLIDAR. At the same time, save the scanned data offline to an external file for further analysis.
FIG 8 POINTCLOUD VIEWER INTERFACE 2.3.1 Start Scanning Click to start scanning and display the environment point cloud, the upper left corner displays the angle & distance information of the red line position (unit: mm). Click it.
2.3.2 Data Storage During lidar scanning, click [File] in the main menu, select [Export to Excel], and save point cloud data according to the prompts. Then the system will save the point cloud information scanned in a circle in Excel format. FIG 10 SAVE DATA 2.3.3 Display Mean and Standard Deviation Click [Tools] in the main menu, then select [Mean And STD] - [View].
FIG 13 RECORD AND PLAY The main window is displayed To record lidar data, click as follows: to start recording, and click In non-scanning mode, click to stop recording. to start play. The play process is as follows: FIG 14 PLAY PROCESS 2.3.5 Debug Click [Tools] in the main menu, and then select [DebugON] to output the raw lidar data to the "viewer_log.txt" and "viewer_log_err.txt" files.
2.3.6 Split Screen FIG 16 Right-click the pop-up menu and select [Split Screen Display] to display up to 3 GS2 cascaded point cloud data. FIG 17 SPLIT SCREEN DISPLAY Note: For more functions of LidarViewer, please click [Help], select [More Information], and learn more about how to use it. 3 LINUX ROS OPERATION There are many Linux versions，this article only uses Ubuntu 18.04, Melodic version ROS as an example. 3.
$ cd build $ cmake .. $ make 3.2.2 Run the SDK samples In the build folder, run ydlidar_test: $ ./ydlidar.test It can be seen the following SDK Scanning information: 3.3 The use of ROS under Ubuntu The Ros driver package is under development.
4 CAUTION 4.1 Ambient Temperature When the working environment temperature of GS2 is over high or over low, it will affect the accuracy of the distance measuring system. It may also damage the structure of the scanning system and reduce the service life of the GS2 lidar. Avoid using in high temperature (>50 degrees Celsius) and low temperature (<0 degrees Celsius) conditions. 4.
5 REVISE Date Version Content 2022-01-19 1.
