YDLIDAR G4 Bedienungsanleitung

YDLIDAR G4

USER MANUAL

Doc#：01.13.000009

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Contents

YDLIDAR G4 DEVELOPMENT KIT.................................................................................................................. 2

Development kit......................................................................................................................................... 2

USAGE UNDER WINDOWS.............................................................................................................................3

Device connection...................................................................................................................................... 3

Driver Installation........................................................................................................................................4

Evaluation software usage......................................................................................................................... 6

LINUX ROS OPERATION............................................................................................................................... 11

Document description............................................................................................................................. 11

Device connection....................................................................................................................................11

ROS Driver Installation............................................................................................................................. 11

RVIZ installation........................................................................................................................................12

RVIZ Check the scan results.................................................................................................................... 12

Modify the scan angle problem.............................................................................................................. 12

USE CAUTION................................................................................................................................................. 12

Ambient temperature.............................................................................................................................. 12

Ambient lighting.......................................................................................................................................12

Power demand......................................................................................................................................... 13

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YDLIDAR G4 DEVELOPMENT KIT

The development kit of YDLIDAR G4 (hereafter abbreviated as G4) is an accessory tool provided to

facilitate the performance evaluation and early rapid development of the G4. Through the G4

development kit, and with the matching evaluation software, you can observe point cloud data

scanned by G4 on your environment or development on the SDK.

Development kit

The G4 development kit has the following components:

G4 Lidar

USB Type-C

USB Adapter board

FIG 1 YDLIDAR G4 DEVELOPMENT KIT

Item

Qty

Description

G4 Lidar

Standard version of the G4 Lidar. The G4 has an integrated motor drive for motor

control.

USB Type-C

cable

Use with USB adapter board to connect G4 and PC. USB cable is both a power

supply cable and a data cable.

USB adapter board

This component can realize USB to UART function, facilitating G4, PC fast

interconnection.

At the same time, support serial port DTR signal to G4 motor stop control.

A USB Type-C Power Interface (PWR) for auxiliary power supply is also

provided.

Note: USB adapter board has two USB Type-C interfaces: USB_DATA, USB_PWR.

USB_DATA: Data-powered multiplex 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.

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USAGE UNDER WINDOWS

Device connection

When G4 is evaluated and developed under windows, G4 and PC need to be interconnected. The

specific process is as follows:

FIG 2 YDLIDAR G4DEVICE CONNECTION STEP 1

FIG 3 YDLIDAR G4DEVICE CONNECTION STEP 2

Connect the adapter board with G4 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 interface board, and the idle mode is used after G4 is powered on. The

motor does not rotate.

Part of the development platform or PC USB interface drive current is weak, G4 need to access the

+5 V auxiliary power supply, otherwise the Lidar works abnormally.

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Driver Installation

FIG 4 YDLIDAR G4 AUXILIARY POWER SUPPLY

To evaluate and develop the G4 under Windows, you need to install the serial port driver of the USB

adapter board. 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.

http://ydlidar.com/

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 G4 DRIVER VERSION SELECTION

Development

Platform

5V Power

Supply

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

FIG 6 YDLIDAR G4 DRIVER IS INSTALLING

After the installation is complete, you can 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 G4 and PC interconnection).

Note：Users can also choose Type-C on G4 to get started quickly.Connect the PC and G4 directly

with Type-C data cable and download the vcp serial port driver of G4 on the www.ydlidar.com.

After that,start the PCV to scan the map and observe the data.

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FIG 7 YDLIDAR G4 DRIVE INSTALLATION CHECK

Evaluation software usage

YDLIDAR provides Point Cloud Viewer, a point cloud data visualization software for G4 real-time

scanning. Users can intuitively observe the G4 scanning effect chart. GDL real-time point cloud data

and real-time scanning frequency are provided on YDLIDAR. At the same time, the version

information of G4 can be read, and the scan data can be saved offline to an external file for further

analysis.

Before using the YDLIDAR software, make sure that the G4 USB adapter board serial port driver is

installed successfully, and interconnect the G4 with the USB port of the PC. Run the evaluation

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

FIG 8 YDLIDAR G4 EVALUATION SOFTWARE

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Note: The Lidar does not turn on the heartbeat function by default. This function needs to send the scan

command continuously to make it work normally. If the scanning frequency is stopped, the Lidar will stop

scanning. Currently, G4 and F4 are compatible with this function, and X4 and X4 are not compatible.

If the connection is correct, you will see the following screen：

Start Scanning

Click to start scanning and display the environment point cloud.

Clicking to stop it,as shown below:

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FIGURE10 LIDAR SCANNING POINT CLOUD DISPLAY

System Settings

Click System Settings and the following settings box will pop up:

FIGURE 11 CLIENT SETTINGS BOX

As shown in the figure, you can configure and detect the Lidar on this setup page, as well as Lidar

firmware upgrade, client software upgrade, etc.

Save Data

During Lidar scanning,click ，Save the point cloud data as prompted.The system will save the

point cloud information scanned in a circle according to the following format.

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FIGURE 12 POINT CLOUD DATA SAVE FORMAT

Scanning direction

The scanning direction (rotation direction) of the lidar can be adjusted by clicking . When

the lidar is in the scanning state, you need to click the scan control again after switching the

scanning direction.

Scanning frequency

is used to adjust the scanning frequency (motor speed) of the lidar. Click any one of them,

the system will pop up the frequency setting bar, which can be adjusted automatically according to

the demand. When the lidar is in the scanning state, you need to click the scan control again after

adjusting the scanning frequency.

Ranging frequency

is used to switch the Lidar's ranging frequency. The X4 supports 4K, 8K, and 9K ranging

frequency switching. Other versions of the Lidar do not support this function, and the click is

invalid. When the Lidar is in the scanning state, you need to click the scanning control again after

switching the ranging frequency.

Angle Calibration

During the mechanical assembly of the Lidar, the user may have a deviation in the zero angle.

In this case, the angle calibration function of the client can be used to calibrate according to

actual needs. The specific operations are as follows:

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