YDLIDAR G2, User Manual

Page 1: ...G2 USER MANUAL Shenzhen EAI Technology Co Ltd DOC 01 13 002502 www ydlidar com...

Page 2: ...an Frequency 7 2 3 4 Display Mean and Standard Deviation 7 2 3 5 Display Intensity Value 8 2 3 6 Play and Record 9 2 3 7 Debug 10 2 3 8 Filter 10 3 LINUX ROS OPERATION 11 3 1 Device Connection 11 3 2...

Page 3: ...ich can realize motor stall control and motor control USB Type C Cable 1 Use with USB adapter board to connect G2 and PC USB cable is both a power supply cable and a data cable USB Adapter Board 1 USB...

Page 4: ...nect the adapter board with G2 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...

Page 5: ...aded 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 dr...

Page 6: ...pen 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 installat...

Page 7: ...saved offline to an external file for further analysis Before using the YDLIDAR software make sure that the G2 USB adapter board serial port driver is installed successfully and interconnect the G2 wi...

Page 8: ...n FIG 10 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...

Page 9: ...y setting bar which can be automatically adjusted according to requirements When the lidar is in the scan state you need to click the scan control again after adjusting the scan frequency The speed ca...

Page 10: ...2 3 5 Display Intensity Value Click Data in the main menu and select Intensity histogram FIG 16 DISPLAY INTENSITY VALUE The main window is displayed as follows the intensity values of a total of 100...

Page 11: ...nd Record Click Tools in the main menu then select Record and Play FIG 18 RECORD AND PLAY The main window is displayed as follows To record lidar data click to start recording and click to stop record...

Page 12: ...raw lidar data to the viewer_log txt and viewer_log_err txt files FIG 20 START DEBUGGING 2 3 8 Filter Click Tools in the main menu and then select Filter to add lidar data filtering algorithm FIG 21 F...

Page 13: ...nstall YDLidar SDK ydlidar_ros_driver depends on the YDLidar SDK library If you have never installed the YDLidar SDK library or it has expired you must first install the YDLidar SDK library If you hav...

Page 14: ...n the ydlidar_ros_driver Run ydlidar_ros_driver with startup file as shown below 3 5 RVIZ View Scan Results Run the launch file and open rviz to view the G2 scan results as shown in the figure below N...

Page 15: ...ayed 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...

Page 16: ...lso damage the structure of the scanning system and reduce the life of the G2 lidar Avoid use in high temperature 50 degrees Celsius and low temperature 0 degrees Celsius conditions 4 2 Ambient Lighti...

Page 17: ...ace of each platform or the USB interface of the computer may be too low to drive the G2 the external power supply of the 5V to the G2 needs to be provided through the USB_PWR interface of the USB int...

Page 18: ...Composing a first draft 2020 01 15 1 1 Add auxiliary power connection method document description configuration description and power supply requirements 2020 06 09 1 2 Adapt to PointCloudViewer2 0 c...