DOC#:01.13.

000002
X4
USER MANUAL

www.ydlidar.com

Shenzhen EAI Technology Co.,Ltd.

 CONTENTS
1 YDLIDAR X4 LIDAR DEVELOPMENT KIT ............................................ 1
1.1 Development Kit ........................................................................................ 1
2 USAGE UNDER WINDOWS ..................................................................... 1
2.1 Device Connection .................................................................................... 1
2.2 Driver Installation ...................................................................................... 2
2.3 Evaluation Software Usage...................................................................... 4
2.3.1 Start Scanning ......................................................................................................... 5
2.3.2 Data Storage ............................................................................................................ 5
2.3.3 Display Mean and Standard Deviation............................................................... 6
2.3.4 Play and Record ...................................................................................................... 6
2.3.5 Debug ....................................................................................................................... 7
2.3.6 Filter .......................................................................................................................... 8
3 LINUX ROS OPERATION ......................................................................... 8
3.1 Device Connection .................................................................................... 8
3.2 Compile and Install YDlidar-SDK ............................................................ 8
3.3 ROS Driver Installation .............................................................................. 9
3.4 Run the ydlidar_ros_driver .................................................................... 10
3.5 RVIZ View Scan Results .......................................................................... 10
3.6 Modify Scan Angle ................................................................................... 10
4 CAUTION ................................................................................................. 11
4.1 Ambient Temperature ............................................................................ 11
4.2 Ambient Lighting ..................................................................................... 12
4.3 Power Supply ............................................................................................ 12
5 REVISE ..................................................................................................... 13

Copyright 2017 EAI All Rights Reserved

1 YDLIDAR X4 LIDAR DEVELOPMENT KIT
The development kit of YDLIDAR X4 lidar (hereinafter referred to as X4) is an accessory tool
provided for performance evaluation and early rapid development of the X4. Through the X4
development kit, and with the evaluation software, users can observe point cloud data scanned by X4
on your environment or development on the SDK.

1.1 Development Kit

The X4 development kit has the following components：

X4 Lidar USB Type-C Cable USB Adapter Board

FIG 1 YDLIDAR X4 DEVELOPMENT KIT

CHART 1 YDLIDAR X4 LIDAR DEVELOPMENT KIT DESCRIPTION

Item Qty. Description
Standard version of the X4 Lidar. The X4 has an integrated motor drive for
X4 Lidar 1
despin control and motor control.
USB Type-C Use with USB adapter board to connect X4 and PC. USB cable is both a
1
Cable power supply cable and a data cable.
Realize the function of USB to UART, which is convenient for the fast
USB Adapter interconnection between X4 and PC. Serial port DTR signal to control X4
1
Board 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.

2 USAGE UNDER WINDOWS

2.1 Device Connection
When evaluating and developing X4 under windows, X4 and PC needed to connected. The
specific process is as follows:

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 FIG 2 YDLIDAR X4 DEVICE CONNECTION STEP 1

FIG 3 YDLIDAR X4 DEVICE CONNECTION STEP 2

Connect the adapter board with X4 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. X4
need to be connected to the auxiliary power supply of +5V, otherwise the lidar will be abnormal.

Development
Platform

5V Power
Supply

FIG 4 YDLIDAR X4 AUXILIARY POWER SUPPLY

2.2 Driver Installation

To evaluate and develop the X4 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

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(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 X4 DRIVER VERSION SELECTION

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

FIG 6 YDLIDAR X4 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].

Copyright 2017 EAI All Rights Reserved 3 / 13

 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 X4 and PC interconnection).

FIG 7 YDLIDAR X4 DRIVER INSTALLATION CHECK

2.3 Evaluation Software Usage

YDLIDAR provides Point Cloud Viewer, a point cloud data visualization software LidarViewer
for X4 real-time scanning. Users can intuitively observe the X4 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 X4 USB adapter board serial port
driver is installed successfully, and interconnect the X4 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 X4 EVALUATION SOFTWARE

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

Copyright 2017 EAI All Rights Reserved 4 / 13
 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.

Copyright 2017 EAI All Rights Reserved 5 / 13

 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].

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 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

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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.

3 LINUX 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 X4 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.

Copyright 2017 EAI All Rights Reserved 8 / 13

 $ git clone https://github.com/YDLIDAR/YDLidar-SDK.git

$ cd YDLidar-SDK/build

$ cmake ..

$ make

$ sudo make install

3.3 ROS Driver Installation

1) Cloning GitHub's YDlidar ROS Driver Package:

$ git clone https://github.com/YDLIDAR/ydlidar_ros_driver.git

ydlidar_ws/src/ydlidar_ros_driver

2) Build the Ydlidar_ROS_Driver software package:

$ cd ydlidar_ws

$ catkin_make

3) Package environment Settings:

$ source ./devel/setup.sh

Note: Add permanent workspace environment variables. It will be very convenient if ROS
environment variables are automatically added to the bash session every time when start a new shell:

$ echo "source ~/ydlidar_ws/devel/setup.bash" >> ~/.bashrc

$ source ~/.bashrc

4) Verify that the package path is set, echo the ROS_PACKAGE_PATH variable.

$ echo $ROS_PACKAGE_PATH

It can be seen something like this: /home/tony/ydlidar_ws/src:/opt/ros/melodic/share

5) Create Serial Port Alias [Optional]

$ chmod 0777 src/ydlidar_ros_driver/startup/*

$ sudo sh src/ydlidar_ros_driver/startup/initenv.sh

Note: After completing the previous operation, re-insert the LIDAR again.

Copyright 2017 EAI All Rights Reserved 9 / 13

3.4 Run the ydlidar_ros_driver
Run ydlidar_ros_driver with startup file, as shown below:

$ roslaunch ydlidar_ros_driver X4.launch

3.5 RVIZ View Scan Results

Run the launch file and open rviz to view the X4 scan results, as shown in the figure below:

$ roslaunch ydlidar_ros_driver lidar_view.launch

Note: Take G4 as an example by default, if use other types of lidar, need to change lidar.launch in
lidar_view.launch file to the corresponding **.launch file. (If X4 lidar is used, it needs to be changed to
X4.launch)

FIG 18 YDLIDAR X4 RVIZ

3.6 Modify Scan Angle

The scanning data seen by running the launch file is displayed by default with 360- degree data.
To modify the display range, need to modify the configuration parameters in the launch file. The
specific operation is as follows:

1) Switch to the directory where the corresponding [launch file] is located, edit the file, and its
content is as shown in the figure:

Copyright 2017 EAI All Rights Reserved 10 / 13

 $ vim X4.launch

FIG 19 X4.LAUNCH FILE

Note: For more information about the file contents, please refer to:

https://github.com/YDLIDAR/ydlidar_ros_driver#configure-ydlidar_ros_driver-internal-parameter

2) The X4 lidar coordinates follow the right-hand rule within ROS, with an angle range of [-180,
180]. "angle_min" is the start angle, and "angle_max" is the endangle. The specific scope needs
to be modified according to actual use.

FIG 20 YDLIDAR X4 COORDINATES DEFINITION

4 CAUTION
4.1 Ambient Temperature
When the working environment temperature of X4 is over high or over low, it will affect the
accuracy of the distance measuring system. It may also damage the structure of the scanning system

Copyright 2017 EAI All Rights Reserved 11 / 13

and reduce the service life of the X4 lidar. Avoid using in high temperature (>50 degrees Celsius)
and low temperature (<0 degrees Celsius) conditions.

4.2 Ambient Lighting

The ideal working environment of X4 is indoor, and the indoor environment light (including no
light) will not affect the work of X4. However, please avoid using strong light sources (such as high-
power lasers) to directly illuminate the X4 vision system.

If the user need to use it outdoors, please avoid the X4's vision system directly facing the sun,
which may cause permanent damage to the vision system's photosensitive chip, which will invalidate
the range finding.

The X4 standard version will cause interference in the distance measurement under the
conditions of strong sunlight reflection outdoors, please pay attention to it.

4.3 Power Supply

During the development process, since the drive current of the USB interface of each platform
or the USB interface of the computer may be too low to drive the X4, the external power supply of
the +5V to the X4 needs to be provided through the USB_PWR interface of the USB interface board.
It is not recommended for use mobile phone power bank because the voltage ripple of power bank is
too large.

Copyright 2017 EAI All Rights Reserved 12 / 13

5 REVISE
Date Version Content
2017-12-05 1.0 Composing a first draft
Added auxiliary power connection method, document description,
2018-01-22 1.1
configuration description, and power supply requirements
2018-04-03 1.2 Adapt to PointCloudViewer2.0 client
2021-08-02 1.3 Adapt LidarViewer client, update SDK, ROS tutorial

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