YDLIDAR(https://www.ydlidar.com/) series is a set of high-performance and low-cost LIDAR sensors, which is the perfect sensor of 2D SLAM, 3D reconstruction, multi-touch, and safety applications.
If you are using ROS (Robot Operating System), please use our open-source ROS Driver .
| Title | Version | Data |
|---|---|---|
| SDK | 1.3.8 | 2018-11-13 |
- [new feature] output scan frequency.
- [new feature] repair Device health exception.
Support LIDAR Model(Only S4Pro support intensity)
| Model | Baudrate | Sampling Frequency | Range(m) | Scanning Frequency(HZ) | Working temperature(°C) | Laser power max(mW) | voltage(V) | Current(mA) |
|---|---|---|---|---|---|---|---|---|
| G4 | 230400 | 9000 | 0.26-16 | 5-12 | 0-50 | ~5 | 4.8-5.2 | 400-480 |
| X4 | 128000 | 5000 | 0.12-10 | 5-12 | 0-40 | ~5 | 4.8-5.2 | 330-380 |
| F4 | 115200 | 4000 | 0.1-12 | 5-12 | 0-40 | ~5 | 4.8-5.2 | 400-480 |
| S4 | 115200 | 4000 | 0.1-8 | 6-12 | 0-40 | ~5 | 4.8-5.2 | 330-380 |
| S4Pro | 153600 | 4000 | 0.1-8 | 6-12 | 0-40 | ~5 | 4.8-5.2 | 330-380 |
$ git clone https://github.com/yangfuyuan/ydlidar_sdk
$ cd ydlidar_sdk
$ git checkout master
Linux:
$ cd startup
$ chmod +x initenv.sh
$ sudo ./initenv.sh ##change the serial port to be readable and writable
$ cd ../..
$ mkdir build
$ cd build
$ cmake ../ydlidar_sdk ##windows: cmake -G "Visual Studio 14 2017 Win64" ../ydlidar_sdk
$ make
Windows:
-
install cmake(if there is no cmake)
-
build steps:
Step1: open cmake-gui and select source code/binaries directory
Step2: Configure and select build toolchain(choose the VS version in your system)
Step3: configuring done(click "Configure" button)
Step4: generating done(click "Generate" button)
Step5: open vs Project in binaries directory
Step6: build finished and run test:
- Compile wth Qt: 1). Qt configuration cmake 2). Open the CmakeLists.txt project file with Qt.
linux:
$ ./ydlidar_test
YDLIDAR C++ TEST
Radar[ydlidar7] detected, whether to select current radar(yes/no)?:yes
0. ydlidar7
$ Please select the lidar port:0
0. 115200
1. 128000
2. 153600
3. 230400
$ Please select the lidar baud rate:3
0. false
1. true
$ Please select the lidar intensity:0
windows:
$ ydlidar_test.exe
YDLIDAR C++ TEST
Radar[ydlidar7] detected, whether to select current radar(yes/no)?:yes
0. ydlidar7
$ Please select the lidar port:0
0. 115200
1. 128000
2. 153600
3. 230400
$ Please select the lidar baud rate:3
0. false
1. true
$ Please select the lidar intensity:0
Console Display:
You should see YDLIDAR's scan result in the console:
YDLIDAR C++ TEST
Radar[ydlidar7] detected, whether to select current radar(yes/no)?:yes
0. ydlidar7
Please select the lidar port:0
0. 115200
1. 128000
2. 153600
3. 230400
Please select the lidar baud rate:3
0. false
1. true
Please select the lidar intensity:0
SDK Version: 1..3.8
LIDAR Version: 1.3.8
fhs_lock: creating lockfile: 18341
firmware: 521
[YDLIDAR] Connection established in [/dev/ttyUSB0]:
Firmware version: 2.0.9
Hardware version: 2
Model: G4
Serial: 2018042100000023
[YDLIDAR INFO] Current Sampling Rate : 9K
[YDLIDAR INFO] Current Scan Frequency : 7.000000Hz
received scan size: 1039
scan system time: 1534400129245291000
scan self time: 1534400129103710800
scan frequency: 8.67053HZ
received scan size: 1231
scan system time: 1534400129379541000
scan self time: 1534400129232496800
scan frequency: 7.31708HZ
received scan size: 1272
scan system time: 1534400129530262000
scan self time: 1534400129378863800
scan frequency: 7.08105HZ
received scan size: 1295
scan system time: 1534400129671749000
scan self time: 1534400129519748800
scan frequency: 6.95518HZ
^Csignal_handler(2)
received scan size: 1341
scan system time: 1534400129839365000
scan self time: 1534400129671106800
scan frequency: 6.71642HZ
fhs_unlock: Removing LockFile
Note: If you have already run the program once. change the configuration parameters through the "lidar.ini" file.
data structure:
//! A struct for returning configuration from the YDLIDAR
struct LaserConfig {
//! Start angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLIDAR from the top.
float min_angle;
//! Stop angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLIDAR from the top.
float max_angle;
//! Scan resolution [rad].
float ang_increment;
//! Scan resoltuion [ns]
float time_increment;
//! Time between scans
float scan_time;
//! Minimum range [m]
float min_range;
//! Maximum range [m]
float max_range;
//! Range Resolution [m]
float range_res;
};
struct LaserScan {
//! Array of ranges
std::vector<float> ranges;
//! Array of intensities
std::vector<float> intensities;
//! Self reported time stamp in nanoseconds
uint64_t self_time_stamp;
//! System time when first range was measured in nanoseconds
uint64_t system_time_stamp;
//! Configuration of scan
LaserConfig config;
///lidar scan frequency
float scan_frequency;
};
example angle parsing:
for(size_t i =0; i < scan.ranges.size(); i++) {
// current angle
double angle = scan.config.min_angle + i*scan.config.ang_increment;// radian format
//current distance
double distance = scan.ranges[i];//meters
//current intensity
int intensity = scan.intensities[i];
}
laser callback function code :
void LaserScanCallback(const LaserScan& scan) {
std::cout<< "received scan size: "<< scan.ranges.size()<<std::endl;
std::cout<< "scan system time: "<< scan.system_time_stamp<<std::endl;
std::cout<< "scan self time: "<< scan.self_time_stamp<<std::endl;
std::cout<< "scan frequency: "<< 1000000000.0/scan.config.scan_time << "HZ"<<std::endl;
std::cout<< "lidar frequency: "<< scan.scan_frequency << "HZ"<<std::endl;
for(size_t i =0; i < scan.ranges.size(); i++) {
// current angle
double angle = scan.config.min_angle + i*scan.config.ang_increment;// radian format
//current distance
double distance = scan.ranges[i];//meters
//current intensity
int intensity = scan.intensities[i];
}
}
The best way to learn how to use sdk is to follow the tutorials in our sdk guide:
https://github.com/yangfuyuan/ydlidar_sdk/Samples
If you want to learn from code examples, take a look at the examples in the Samples directory.
try {
LIDAR ydlidar;
LaserParamCfg cfg;
ydlidar.RegisterLIDARDataCallback(&LaserScanCallback);
ydlidar.UpdateLidarParamCfg(cfg);
while(ydlidar::ok()){
try {
ydlidar.spinOnce();
}catch(TimeoutException& e) {
std::cout<< e.what()<<std::endl;
}catch(CorruptedDataException& e) {
std::cout<< e.what()<<std::endl;
}catch(DeviceException& e) {
std::cout<< e.what()<<std::endl;
break;
}
}
}catch(TimeoutException& e) {
std::cout<< e.what()<<std::endl;
}catch(CorruptedDataException& e) {
std::cout<< e.what()<<std::endl;
}catch(DeviceException& e) {
std::cout<< e.what()<<std::endl;
}Note: Use sdk to be a "try catch" syntax to do exception handling.
std::vector<string> ports = YDlidarDriver::lidarPortList();
for(std::vector<string>::iterator it = ports.begin(); it != ports.end(); it++) {
printf("%s\n", (*it).c_str());
}
double current_angle = scan.config.min_angle + index*scan.config.ang_increment;// radian format
doube Angle = current_angle*180/M_PI;//Angle fomat
If you have any extra questions, please feel free to contact us