DF ROBOT YDLIDAR GS2 User manual

GS2 Lidar
User Manual

CONTENTS
1 GS2LIDARDEVELOPMENTKIT............................................1
1.1 DevelopmentKit............................................................................................1
2 USAGEUNDERWINDOWS.......................................................................1
2.1 DeviceConnection........................................................................................ 1
2.2 DriverInstallation..........................................................................................2
2.3 EvaluationSoftwareUsage.........................................................................4
2.3.1 StartScanning.............................................................................................................. 5
2.3.2 DataStorage................................................................................................................. 6
2.3.3 DisplayMeanandStandardDeviation................................................................... 6
2.3.4 PlayandRecord........................................................................................................... 6
2.3.5 Debug.............................................................................................................................7
2.3.6 SplitScreen................................................................................................................... 8
3 LINUXROSOPERATION............................................................................8
3.1 DeviceConnection........................................................................................ 8
3.2 CompileandInstallYDlidar-SDK...............................................................8
3.2.1 SDKcompilation.......................................................................................................... 8
3.2.2 RuntheSDKsamples.................................................................................................9
3.3 TheuseofROSunderUbuntu....................................................................9
4 CAUTION.....................................................................................................10
4.1 AmbientTemperature................................................................................10
4.2 AmbientLighting.........................................................................................10
4.3 PowerSupply................................................................................................10
5 REVISE.........................................................................................................11

1 GS2LIDARDEVELOPMENTKIT
The development kit of GS2 lidar (hereinafter referred to as GS2) is an accessory
tool provided for performance evaluation and early development of the GS2. Through the GS2
development kit, and with the evaluation software, users can observe point cloud data scanned by
GS2 on your environment or development on the SDK.
1.1 DevelopmentKit
The GS2 development kit has the following components：
USB Type-C Cable
USB Adapter Board
GS2 LiDAR
YDLIDAR GS2 DEVELOPMENT KIT
CHART1 GS2LIDARDEVELOPMENTKITDESCRIPTION
Item
Qty.
Description
GS2 lidar
1
Standard version of the GS2 lidar.
USB Type-C
Cable
USB Adapter
Board
Use with USB adapter board to connect GS2 and PC. USB cable is both a
power supply cable and a data cable
Realize the function of USB to UART, which is convenient for the fast
interconnection between GS2 and PC.
1
1
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 USAGEUNDERWINDOWS
2.1 DeviceConnection
When evaluating and developing GS2 under windows, GS2 and PC needed to be connected.
The specific process is as follows:
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GS2 DEVICE CONNECTION
Connect the adapter board with GS2 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. GS2
need to be connected to the auxiliary power supply of +5V, otherwise the lidar will be abnormal.
GS2 AUXILIARY POWER SUPPLY
2.2 DriverInstallation
To evaluate and develop the GS2 under Windows, the serial port driver of the USB adapter
board. The USB adapter board need to be installed of this kit adopts CP2102 chip to realize serial
port (UART) to USB signal conversion. Its driver can be downloaded from our official website or
downloaded from the official website of Silicon Labs.
http://cn.silabs.com/products/development-tools/software/usb-to-uart-bridge-vcp-drivers
After unzip 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.
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GS2 DRIVER VERSION SELECTION
Double-click the exe file and follow the prompts to install it.
GS2 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].
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 GS2 and PC interconnection).
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GS2 DRIVER INSTALLATION CHECK
2.3 EvaluationSoftwareUsage
YDLIDAR provides Point Cloud Viewer, a point cloud data visualization software LidarViewer
for GS2 real-time scanning. Users can intuitively observe the GS2 scanning effect chart. GDL real-
time point cloud data and real-time scanning frequency are provided on YDLIDAR. At the same
time, save the scanned data offline to an external file for further analysis.
Before using the YDLIDAR software, make sure that the GS2 USB adapter board serial port
driver is installed successfully, and interconnect the GS2 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.
GS2 EVALUATION SOFTWARE
If the connection is correct, users will see the following screen：
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POINTCLOUD VIEWER INTERFACE
2.3.1StartScanning
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
shown below:
to stop it. as
LIDAR SCANNING POINT CLOUD DISPLAY
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2.3.2DataStorage
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.
SAVE DATA
2.3.3DisplayMeanandStandardDeviation
Click [Tools] in the main menu, then select [Mean And STD] - [View].
GS2 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].
LOCK MOUSE TRACKING
2.3.4PlayandRecord
Click [Tools] in the main menu, then select [Record and Play].
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RECORD AND PLAY
The main window is displayed
To record lidar data, click
as follows:
to start recording, and click
to start play.
to stop recording.
In non-scanning mode, click
The play process is as follows:
PLAY PROCESS
2.3.5Debug
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.
START DEBUGGING
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2.3.6SplitScreen
Right-click the pop-up menu and select [Split Screen Display] to display up to 3 GS2
cascaded point cloud data.
SPLIT SCREEN DISPLAY
Note: For more functions of LidarViewer, please click [Help], select [More Information], and learn more about
how to use it.
3 LINUXROSOPERATION
There are many Linux versions，this article only uses Ubuntu 18.04, Melodic version ROS as
an example.
3.1 DeviceConnection
Under Linux, the GS2 and PC interconnect processes are consistent with those under Windows.
See Device Connection under Window.
3.2 CompileandInstallYDlidar-SDK
3.2.1SDKcompilation
In the SDK directory, run the following command to compile the project:
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$ cd build
$ cmake ..
$ make
3.2.2RuntheSDKsamples
In the build folder, run ydlidar_test:
$ ./ydlidar.test
It can be seen the following SDK Scanning information:
3.3 TheuseofROSunderUbuntu
The Ros driver package is under development.
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4 CAUTION
4.1 AmbientTemperature
When the working environment temperature of GS2 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
and reduce the service life of the GS2 lidar. Avoid using in high temperature (>50 degrees Celsius)
and low temperature (<0 degrees Celsius) conditions.
4.2 AmbientLighting
The ideal working environment of GS2 is indoor, and the indoor environment light (including
no light) will not affect the work of GS2. However, please avoid using strong light sources (such as
high-power lasers) to directly illuminate the GS2 vision system.
If the users need to use it outdoors, please avoid the GS2'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 GS2 standard version will cause interference in the distance measurement under the
conditions of strong sunlight reflection outdoors, please pay attention to it.
4.3 PowerSupply
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 GS2, the external power supply of
the +5V to the GS2 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.
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5 REVISE
Date
Version
Content
2022-01-19
1.0
Revision
Copyright 2022 EAI All Rights Reserved
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