User Manual

3.5 RVIZ View Scan Results

Run the launch file and open rviz to view the X2 scan results, as shown in the figure below:

Note: Take G4 as an example by default, if use other types of lidar, need to change lidar.launch in

lidar_view.launch file to the corresponding **.launch file. (If X2 lidar is used, it needs to be changed to

X2.launch)

FIG 18 YDLIDAR X2 RVIZ

3.6 Modify Scan Angle

The scanning data seen by running the launch file is displayed by default with 360- degree data.

To modify the display range, you need to modify the configuration parameters in the launch file. The

specific operation is as follows:

1) Switch to the directory where the corresponding [launch file] is located, edit the file, and

its content is as shown in the figure:

$ roslaunch ydlidar_ros_driver X2.launch

$ roslaunch ydlidar_ros_driver lidar_view.launch

$ vim X2.launch