EAI X3 LiDAR Manual

 

 

http://www.yahboom.net/study/YDLIDAR-X3

Yahboom

 

 

 

 

 

Preparation

1. Install SDK

Unzip YDLidar-SDK-master.tar.xz in the source code folder to get YDLidar-SDK-master.

Input following command:

 

mkdir build

cd build

cmake ..

make -j4

sudo make install

2.Compilation Function Package

Unzip ydlidar in the source folder_ ROS2_ Driver master, obtain ydlidar_ ROS2_ Driver master feature pack.

Copy ydlidar_ ROS2_ Drive master to the src directory of your own workspace

Using the workspace ydlidar_ Ws is an example, rplidar_ Ws is located in the ~ directory.

Then, go back to the workspace directory and compile it,

 

cd ~/ydlidar_ws

colcon build --symlink-install

The above screen indicates that the compilation has passed.

Input following command to set the environment variable.

 

echo "source ~/ydlidar_ws/install/setup.bash --extend" >> ~/.bashrc

Input the following command to bind lidar port name

 

cd /home/yahboom/ydlidar_ws/src/ydlidar_ros2_driver-master/startup

sudo chmod 777 initenv.sh

sudo bash initenv.sh

Then, re-plug the lidar wiring and enter the command ll /dev/rplidar in the terminal.

The above content indicates that the binding is successful. The end is not necessarily 0 and changes according to the order in which the devices are inserted.

3. Run launch

Input following command:

 

#x3/x3pro lidar

ros2 launch ydlidar_ros2_driver x3_ydlidar_launch.py

#4ros lidar

ros2 launch ydlidar_ros2_driver 4ros_ydlidar_launch.py

View lidar data with rostopic tool.

 

ros2 topic echo /scan

ctrl+ c closes the terminal that just drove the lidar.

Then enter the following statement in the terminal to drive the lidar, and open rviz to display the point cloud.

 

 

#x3/x3pro lidar

ros2 launch ydlidar_ros2_driver ydlidar_x3_view_launch.py

#4ros lidar

ros2 launch ydlidar_ros2_driver ydlidar_4ros_view_launch.py

 

 

https://uge-one.com/product/8-meter-range-360-degree-scanner-x2-lidar/?srsltid=AfmBOorwD9Ug3wDFNTQZNQeLmVeMQG9xWTnaeFGJ2BQ3TENf89aau6um

 

 

8 Meter Range 360 Degree Scanner X2 positioning Lidar

This 8 Meter Range 360 Degree Scanner X2 positioning  Lidar is very simple to operate, just follow the following Steps.

Download LidarViewer

Support SDK tools Download

LidarViewer User Manual

User Manual Window

Step 1:

Select LidarViewer_V0.3.5.EXE. and Press Enter

lidar X2 1.png

 

Step2:

click OK Button At the right Down Corner.

lidar X2 2.png

 

. Step3 :

Connect the Lidar to The USB Port.

 

Step 4:

• Choose LidarType: X2.
• Choose the Lidar Connected Port.
• Click OK

lidar X2 3.png

 

 

 

Step 5:

Click on Play Button ( Connect Buton) at the TOP Left Corner.

lidar X2 4.png

 

Delete Custom Model

Select the model you want to delete, right clock to delete the model more than 2 seconds, Then release, it will pop up a delete window.



Export Laser Data to Excel

Click on the File menu in the main menu, and select Export To Excel Action.



Show Mean and Standard Deviation

Click on the Tool menu in the main menu, and select Mean And STD Submenu. There are two options in the submenu.

View : Display data in real time, but it does not store.

Save As DataBase : Reaｌ-time display data and storage.



Select one of them as needed, Move the mouse to the position to be tested, then right-click to popup the menu, select Lock Mouse option.



After click Lock Mouse, the waveform can be displayed by the following operations.

1.Right-click to pop up the submenu, select Data Graph or Database View option.



2.Click on the Data menu in the main menu, select Data Graph or Database View option.



Note: Click Unlock Mouse to unlock Fixed point.

Data Graph option real-time data display



Database View option show historical and real-time data.



Note: You can output the required data through the filter conditions at the top of the window.

Export history Data to Graph, click Export to Graph button.



Export history Data to Excel, click Export to Excel button.

Delete a specific row of data, Select the data to be deleted and click Delete button.



It will pop up a delete window.



Delete a table of Data, Select the table you want to delete in the upper right corner, right clock to delete the table more than 2 seconds, Then release, it will pop up a delete window.



Laser Odometry



odometry angle graph is as follows:



Intensity Histogram



Intensity Histogram graph is as follows:



Play and Record

click Record and Play in the Menu.



The main windows is displayed as follows:



record lidar data, click “” button to start recording, The window for setting the record file name pops up.



click “” button to stop recording.

In non-scannin mode, click “” button to start playback. The following window pops up.



The playing process is as follows:



Debug

Click DebugON button to output the raw lidar data to “viewer_log.txt” and “viewer_log_err.txt” files.



Filter

Click Filter menu to increase the lidar data filtering algorithm.



Download USB Driver

Click Download USB Driver button in Link menu.



Look at the software version.

Click About Software button in Help menu.



The result is as follows: