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YDLIDAR

YDLIDAR ROS PACKAGE(V1.4.6)

Dataset

LIDAR Model Baudrate SampleRate(K) Range(m) Frequency(HZ) Intenstiy(bit) SingleChannel voltage(V)
F4 1 115200 4 0.12~12 5~12 false false 4.8~5.2
S4 4 115200 4 0.10~8.0 5~12 (PWM) false false 4.8~5.2
S4B 4/11 153600 4 0.10~8.0 5~12(PWM) true(8) false 4.8~5.2
S2 4/12 115200 3 0.10~8.0 4~8(PWM) false true 4.8~5.2
G4 5 230400 9/8/4 0.28/0.26/0.1~16 5~12 false false 4.8~5.2
X4 6 128000 5 0.12~10 5~12(PWM) false false 4.8~5.2
X2/X2L 6 115200 3 0.10~8.0 4~8(PWM) false true 4.8~5.2
G4PRO 7 230400 9/8/4 0.28/0.26/0.1~16 5~12 false false 4.8~5.2
F4PRO 8 230400 4/6 0.12~12 5~12 false false 4.8~5.2
R2 9 230400 5 0.12~16 5~12 false false 4.8~5.2
G6 13 512000 18/16/8 0.28/0.26/0.1~25 5~12 false false 4.8~5.2
G2A 14 230400 5 0.12~12 5~12 false false 4.8~5.2
G2 15 230400 5 0.28~16 5~12 true(8) false 4.8~5.2
G2C 16 115200 4 0.1~12 5~12 false false 4.8~5.2
G4B 17 512000 10 0.12~16 5~12 true(10) false 4.8~5.2
G4C 18 115200 4 0.1~12 5~12 false false 4.8~5.2
G1 19 230400 9 0.28~16 5~12 false false 4.8~5.2
G5 5 230400 9/8/4 0.28/0.26/0.1~16 5~12 false false 4.8~5.2
G7 13 512000 18/16/8 0.28/0.26/0.1~25 5~12 false false 4.8~5.2
TX8 　 100 115200 4 0.1~8 4~8(PWM) false true 4.8~5.2
TX20 　 100 115200 4 0.1~20 4~8(PWM) false true 4.8~5.2
TG15 　 100 512000 20/18/10 0.05~15 3~16 false false 4.8~5.2
TG30 　 101 512000 20/18/10 0.05~30 3~16 false false 4.8~5.2
TG50 　 102 512000 20/18/10 0.05~50 3~16 false false 4.8~5.2

Note: PWM option speed control requires external PWM wave.

How to install ROS

ubuntu

windows

How to Create a ROS workspace

Create a workspace

How to build YDLiDAR ROS Package

1) Clone this project to your catkin's workspace src folder
	(1). git clone https://github.com/YDLIDAR/ydlidar_ros
	(2). git chectout master
2) Running catkin_make to build ydlidar_node and ydlidar_client
3) Create the name "/dev/ydlidar" for YDLIDAR
--$ roscd ydlidar_ros/startup
--$ sudo chmod 777 ./*
--$ sudo sh initenv.sh

Note: Download and Build details here

How to Run YDLIDAR ROS Package

1. Run YDLIDAR node and view in the rviz

roslaunch ydlidar_ros lidar_view.launch

2. Run YDLIDAR node and view using test application

roslaunch ydlidar_ros lidar.launch

rosrun ydlidar_ros ydlidar_client

Note: Specific LiDAR paramters can be based on the following opterations.

3.1 Running the YDLidar G1

After your workspace has been built and sourced:

roslaunch ydlidar_ros G1.launch

Note: You can alse Update the paramters in lidar.launch to G1 LiDAR paramters.

3.2 Running the YDLidar G2

After your workspace has been built and sourced:

roslaunch ydlidar_ros G2.launch

Note: You can alse Update the paramters in lidar.launch to G2 LiDAR paramters.

3.3 Running the YDLidar G2C

After your workspace has been built and sourced:

roslaunch ydlidar_ros G2C.launch

Note: You can alse Update the paramters in lidar.launch to G2C LiDAR paramters.

3.4 Running the YDLidar G4/G5

After your workspace has been built and sourced:

roslaunch ydlidar_ros G4.launch

Note: You can alse Update the paramters in lidar.launch to G4 LiDAR paramters.

3.5 Running the YDLidar G6/G7

After your workspace has been built and sourced:

roslaunch ydlidar_ros G6.launch

Note: You can alse Update the paramters in lidar.launch to G6 LiDAR paramters.

3.6 Running the YDLidar R2

After your workspace has been built and sourced:

roslaunch ydlidar_ros R2.launch

Note: You can alse Update the paramters in lidar.launch to R2 LiDAR paramters.

3.7 Running the YDLidar S2

After your workspace has been built and sourced:

roslaunch ydlidar_ros S2.launch

Note: You can alse Update the paramters in lidar.launch to S2 LiDAR paramters.

3.8 Running the YDLidar S4

After your workspace has been built and sourced:

roslaunch ydlidar_ros S4.launch

Note: You can alse Update the paramters in lidar.launch to S4 LiDAR paramters.

3.9 Running the YDLidar X4

After your workspace has been built and sourced:

roslaunch ydlidar_ros X4.launch

Note: You can alse Update the paramters in lidar.launch to X4 LiDAR paramters.

3.10 Running the YDLidar X2/X2L

After your workspace has been built and sourced:

roslaunch ydlidar_ros X2L.launch

Note: You can alse Update the paramters in lidar.launch to X2/X2L LiDAR paramters.

3.11 Running the YDLidar TG15/TG30/TG50

After your workspace has been built and sourced:

roslaunch ydlidar_ros TG.launch

Note: You can alse Update the paramters in lidar.launch to TG15/TG30/TG50 LiDAR paramters.

3.12 Running the YDLidar TX8/TX20

After your workspace has been built and sourced:

roslaunch ydlidar_ros TX8.launch

Note: You can alse Update the paramters in lidar.launch to TX8/TX20 LiDAR paramters.

ROS Interfaces

Topic Type Description
scan sensor_msgs/LaserScan 2D laser scan of the 0-angle ring
Parameter Type Description
port String port of lidar (ex. /dev/ttyUSB0)
baudrate int baudrate of lidar (ex. 230400)
frame_id String TF frame of sensor, default: laser_frame
isSingleChannel bool Whether LiDAR is a single-channel, default: false
resolution_fixed bool Fixed angluar resolution, default: true
auto_reconnect bool Automatically reconnect the LiDAR, default: true
reversion bool Reversion LiDAR, default: true
isTOFLidar bool Whether LiDAR is TOF Type, default: false
angle_min float Minimum Valid Angle, defalut: -180.0
angle_max float Maximum Valid Angle, defalut: 180.0
range_min float Minimum Valid range, defalut: 0.01m
range_max float Maximum Valid range, defalut: 64.0m
ignore_array String LiDAR filtering angle area, default: ""
samp_rate int sampling rate of lidar, default: 9
frequency float scan frequency of lidar,default: 10.0

Parameters

port (string, default: /dev/ydlidar)

serial port name used in your system.

baudrate (int, default: 230400)

serial port baud rate.
LiDAR baudrate
F4/S2/X2/X2L/S4/TX8/TX20/G4C 115200
X4 128000
S4B 153600
G1/G2/R2/G4/G5/G4PRO/F4PRO 230400
G6/G7/TG15/TG30/TG50 512000

frame_id (string, default: laser_frame)

frame ID for the device.

isSingleChannel (bool, default: false)

indicated whether the LIDAR is single communication(S2) lidar.
LiDAR isSingleChannel
G1/G2/G4/G5/G6/G7/F4/F4PRO/S4/S4B/X4/R2/G4C false
S2/X2/X2L true
TG15/TG30/TG50 false
TX8/TX20 true

resolution_fixed (bool, default: true)

indicated whether the LIDAR has a fixed angular resolution.

auto_reconnect (bool, default: true)

indicated whether the LIDAR auto reconnection.

reversion (bool, default: false)

indicated whether the LIDAR data rotation 180°.
LiDAR reversion
G1/G2/G4/G5/G6/G7/F4/F4PRO//R2/G4C/TG15/TG30/TG50 true
S2/X2/X2L/S4/S4B/X4/TX8/TX20 false

isTOFLidar (bool, default: false)

indicated whether the LIDAR is TOF(TX8) lidar.
LiDAR isToFLidar
G1/G2/G4/G5/G6/G7/F4/F4PRO/S4/S4B/X4/R2/G4C/S2/X2/X2L false
TG15/TG30/TG50/TX8/TX20 true

angle_min (double, default: -180)

Min valid angle (°) for LIDAR data.

angle_max (double, default: 180)

Max valid angle (°) for LIDAR data.

range_min (double, default: 0.08)

Min valid range (m) for LIDAR data.

range_max (double, default: 32.0)

Max valid range (m) for LIDAR data.

ignore_array (string, default: "")

Set the current angle range value to zero.

Note: ignore 10 to 20 and 50 to 80, ex: "10, 20, 50, 80"

samp_rate (int, default: 9)

the LIDAR sampling frequency.
LiDAR samp_rate
G4/F4/G5 4,8,9
F4PRO 4,6
G6/G7 8,16,18
G1/G2/R2/X4 5
S4/S4B/G4C/TX8/TX20 4
S2 3
TG15/TG30/TG50 10,18,20

frequency (double, default: 10)

the LIDAR scanning frequency.

Contact EAI

Development Path

If you have any extra questions, please feel free to contact us