YDLIDAR X4PRO Bedienungsanleitung

Shenzhen EAI Technology Co.,Ltd.

DOC#:01.13.001702

www.ydlidar.com

X4PRO

USER MANUAL

 
Copyright 2022 EAI All Rights Reserved 
CONTENTS 
1YDLIDAR X4PRO LIDAR DEVELOPMENT KIT ....................................1 
1 Development Kit ........................................................................................ 1 
2USAGE UNDER WINDOWS .....................................................................1 
1 Device Connection .................................................................................... 1 
2 Driver Installation ...................................................................................... 3 
3 Evaluation Software Usage...................................................................... 4 
3.1 Start Scanning......................................................................................................... 5 
3.2 Data Storage............................................................................................................ 6 
3.3 Display Mean and Standard Deviation............................................................... 6 
3.4 Play and Record ...................................................................................................... 6 
3.5 Debug ....................................................................................................................... 7 
3.6 Filter .......................................................................................................................... 8 
3LINUX ROS OPERATION .........................................................................8 
1 Device Connection .................................................................................... 8 
2 Compile and Install YDlidar-SDK............................................................ 8 
3 ROS Driver Installation.............................................................................. 9 
4 Run the ydlidar_ros_driver ....................................................................10 
5 RVIZ View Scan Results ..........................................................................10 
6 Modify Scan Angle...................................................................................10 
4CAUTION................................................................................................. 12 
1 Ambient Temperature ............................................................................12 
2 Ambient Lighting.....................................................................................12 
3 Power Supply............................................................................................12 
5REVISE..................................................................................................... 13 

1YDLIDAR X4PRO LIDAR DEVELOPMENT KIT

The development kit of YDLIDAR X4PRO lidar (hereinafter referred to as X4PRO) is an

accessory tool provided for performance evaluation and early rapid development of the X4PRO.

Through the X4PRO development kit, and with the evaluation software, users can observe point

cloud data scanned by X4PRO on your environment or development on the SDK.

1.1 Development Kit

The X4PRO development kit has the following components：

FIG 1 YDLIDAR X4PRO DEVELOPMENT KIT

CHART 1 YDLIDAR X4PRO LIDAR DEVELOPMENT KIT DESCRIPTION

Item

Qty.

Description

X4PRO Lidar

Standard version of the X4PRO Lidar. The X4PRO has an integrated motor

drive for despin control and motor control.

USB Type-C

Cable

Use with USB adapter board to connect X4PRO and PC. USB cable is both a

power supply cable and a data cable.

USB Adapter

Board

Realize the function of USB to UART, which is convenient for the fast

interconnection between X4PRO and PC. Serial port DTR signal to control

X4PRO motor despin control. In addition, a Micro USB power interface

(PWR) for auxiliary power supply is provided.

Note: USB Adapter board has two USB TYPE C interface：USB_DATA、USB_PWR.

USB_DATA: Data powered interface. In most cases, this interface can be used to meet power and

communication requirements.

USB_PWR: Auxiliary power supply interface. The USB interface of some development platforms has weak

current drive capability. At this time, auxiliary power supply can be used.

2USAGE UNDER WINDOWS

2.1 Device Connection

When evaluating and developing X4PRO under windows, X4PRO and PC needed to connected.

The specific process is as follows:

X4PRO Lidar

USB Type-C Cable

USB Adapter Board

FIG 2 YDLIDAR X4PRO DEVICE CONNECTION STEP 1

FIG 3 YDLIDAR X4PRO DEVICE CONNECTION STEP 2

Connect the adapter board with X4PRO 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.

X4PRO need to be connected to the auxiliary power supply of +5V, otherwise the lidar will be

abnormal.

FIG 4 YDLIDAR X4PRO AUXILIARY POWER SUPPLY

Development

Platform

5V Power

Supply

2.2 Driver Installation

To evaluate and develop the X4PRO under Windows, the serial port driver of the USB adapter

board needed to be installed. The USB adapter board of this kit adopts CP2102 chip to realize serial

port (UART) to USB signal conversion. Its driver can be downloaded from our official website or

downloaded from the official website of Silicon Labs.

https://www.ydlidar.com/dowfile.html?id=97

http://cn.silabs.com/products/development-tools/software/usb-to-uart-bridge-vcp-drivers

After decompressing the driver package, run the CP2102's Windows driver installation file (exe

file under CP210x_VCP_Windows). Please select the 32-bit version (x86) or 64-bit version (x64)

installation program according to the version of the windows operating system.

FIG 5 YDLIDAR X4PRO DRIVER VERSION SELECTION

Double-click the exe file and follow the prompts to install it.

FIG 6 YDLIDAR X4PRO 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. (Note that the port must be

checked in case of X4PRO and PC interconnection).

FIG 7 YDLIDAR X4PRO DRIVER INSTALLATION CHECK

2.3 Evaluation Software Usage

YDLIDAR provides Point Cloud Viewer, a point cloud data visualization software LidarViewer

for X4PRO real-time scanning. Users can intuitively observe the X4PRO scanning effect chart. GDL

real- time point cloud data and real-time scanning frequency are provided on YDLIDAR. At the

same time, users can save the scanned data offline to an external file for further analysis.

Visualization software download link: https://www.ydlidar.com/Public/upload/download/TOOL.zip

Before using the YDLIDAR software, make sure that the X4PRO USB adapter board serial port

driver is installed successfully, and interconnect the X4PRO with the USB port of the PC. Run the

evaluation software: LidarViewer.exe, select the corresponding serial port number and model

number. Meanwhile, users could choose language on the top right corner.

FIG 8 YDLIDAR X4PRO EVALUATION SOFTWARE

Note：The X4PRO is shared with the X4 model.

If the connection is correct, it will show the following screen：

FIG 9 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 to stop it. as

shown below:

FIG 10 LIDAR SCANNING POINT CLOUD DISPLAY

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 11 SAVE DATA

2.3.3 Display Mean and Standard Deviation

Click [Tools] in the main menu, then select [Mean And STD] - [View].

FIG 12 YDLIDAR G4 DISPLAY MEAN AND STANDARD DEVIATION

Choose one according to needs, move the mouse to the test position, right-click the pop-up

menu, and select [Lock Mouse Tracking].

FIG 13 LOCK MOUSE TRACKING

2.3.4 Play and Record

Click [Tools] in the main menu, then select [Record and Play].

FIG 14 RECORD AND PLAY

The main window is displayed as follows:

To record lidar data, click to start recording, and click to stop recording.

In non-scanning mode, click to start play.

The play process is as follows:

FIG 15 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.

FIG 16 START DEBUGGING

2.3.6 Filter

Click [Tools] in the main menu, and then select [Filter] to add lidar data filtering algorithm.

FIG 17 FILTER SETTING

Note: For more functions of LidarViewer, please click [Help], select [More Information], and learn more about

how to use it.

3LINUX ROS OPERATION

There are many Linux versions，this article only uses Ubuntu 18.04, Melodic version ROS as

an example.

SDK driver address：

https://github.com/YDLIDAR/YDLidar-SDK

ROS driver address：

https://github.com/YDLIDAR/ydlidar_ros_driver

3.1 Device Connection

Under Linux, the X4PRO and PC interconnect processes are consistent with those under

Windows. See Device Connection under Window.

3.2 Compile and Install YDlidar-SDK

YDLIDAR_ROS_DRIVER depends on the YDLIDAR-SDK library. If never installed the

YDlidar-SDK library before, or it has expired, it is necessary to install the YDlidar-SDK library. If

the system has installed the latest version of ydlidar-SDK, please skip this step, then go to the next

step.

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