EAI YDLIDAR TEA User manual

Shenzhen EAI Technology Co.,Ltd.
DOC#:01.13.005502
www.ydlidar.com
YDLIDAR TEA
USER MANUALALPHA

Copyright 2023 EAI All Rights Reserved
CONTENTS
1OPERATION UNDER WINDOWS ...........................................................1
1.1 Device Connection .................................................................................... 1
1.2 Network setting ......................................................................................... 1
1.3 How to Use EaiLidarTest .......................................................................... 2
Start Scanning......................................................................................................... 4
Data Storage............................................................................................................ 5
Playback and Recording display Mean and Standard Deviation................. 6
Wave Filtering......................................................................................................... 6
Network Configuration ......................................................................................... 7
2LINUX ROS OPERATION .........................................................................7
2.1 Device Connect .......................................................................................... 8
2.2 Compile and Install YDLidar-SDK........................................................... 8
2.3 ROS Driver Installation.............................................................................. 8
2.4 Run ydlidar_ros_driver ............................................................................. 9
2.5 RVIZ Viewing Scan Results...................................................................... 9
2.6 Modify Scan Angle...................................................................................10
3REVISE..................................................................................................... 12

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1OPERATION UNDER WINDOWS
1.1 Device Connection
When TEA is evaluated and developed under windows, TEA and PC need to be interconnected.
The specific process is as follows:
FIG 1 YDLIDAR TEA DEVICE CONNECTION
Connect the RJ45 port on one end of the device cable to the network port on the PC, set the
device and PC to be on the same network segment. The DC port is connected to the power socket
through the 12V-1A power adapter.
1.2 Network setting
TEA Initial network parameters have been set before delivery:
IP address: 192.168.0.11
Subnet mask: 255.255.255.0
When connecting to the lidar for the first time, the network parameters of the PC and lidar must
be set in the same network segment and do not conflict with each other. As follows:
FIG 2 PC NETWORK SETTING

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When using the visualization software EaiLidarTest to check the point cloud data, the user need
to penetrate the firewall of the operating system to obtain the data. It is recommended to add the
software to the list of allowed software in the firewall. Operation method: “Control Panel”- “System
and Security”- “Allow applications to pass through the firewall”, allowing EaiLidarTest to pass
through the firewall.
1.3 How to Use EaiLidarTest
YDLIDAR provides EaiLidarTest, a point cloud data visualization software for TEA real-time
scanning. Users can use this software to visually observe the TEA scanning map: YDLIDAR
provides TEA real-time point cloud data and real-time scanning frequency. At the same time, the
scanned data can be saved offline to an external file for further analysis.
Run the evaluation software: EaiLidarTest.exe, select the corresponding model number, click
“Login”. Meanwhile, users could choose language based on our personal situation (“Help”in the
upper left corner).
FIG 3 YDLIDAR TEA EVALUATION SOFTWARE
FIG 4 LANGUAGE SELECTION
System Configuration: Click “System Config”to view or modify lidar parameters in the pop-up
window.

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FIG 5 YDLIDAR TEA PARAMETER CONFIGURATION
Lidar parameters configuration: double click on red box area, and refer to the following figure
for TEA parameters:
FIG 6 YDLIDAR TEA PARAMETERS CONFIGURATION
After confirmation, the client page is as follows:

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FIG 7 YDLIDAR CLIENT SOFTWARE INTERFACE
Start Scanning
Click "Start/Stop" in the Stopped state. Click “Start” button to start scanning and display the
environment point cloud. The angle and distance information of the red line position will be
displayed in the upper left corner (unit: mm). Click “Stop” button to stop it. as shown below:
FIG 8 LIDAR SCANNING POINT CLOUD DISPLAY
Select one as needed, move the mouse to the testing position, right-click on the pop-up menu,
and select “锁定光标”.

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FIG 9 LOCKING MOUSE TRACKING
Move the mouse to the testing position, right-click the pop-up menu, and select “显示强光图”.
The main window displays the intensity values of a total of 100 points on the left and right sides of
the mouse lock position.
FIG 10 SHOWS THE LIGHT INTENSITY HISTOGRAM
Data Storage
During lidar scanning, click in the Bottom right corner of the main window, select “Export
data/Export data (sorted by angle)”, and save point cloud data according to the prompts. Then the
system will save the point cloud information scanned in a circle.

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FIG 11 SAVE DATA
Playback and Recording display Mean and Standard Deviation
Select “Record/Stop”in the bottom left coner of main menu.
FIG 12 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 13 PLAY PROCESS
Wave Filtering
Click on the bottom left corner of the main window to turn on the strong light filter and add
a LiDAR data filtering algorithm

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FIG 14 WAVE FILTERING SETTING
Network Configuration
Click on the bottom right corner of the main window to configure the device network
parameters, which can be used to set the device IP address, TCP port, and UDP port. After changing
any of these configurations, you need to click the “Confirm”button to save the settings. After the
device restarts, the settings will take effect.
FIG 15 NETWORK CONFIGURATION
2LINUX ROS OPERATION
There are many Linux distributions, and this article only takes Ubuntu 18.04 and Melodic
version ROS as examples.
SDK driver address:
https://github.com/YDLIDAR/YDLidar-SDK
ROS driver address:
https://github.com/YDLIDAR/ydlidar_ros_driver

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2.1 Device Connect
Under Linux, the interconnection process between TEA and PC is consistent with the operation
under Windows, see Device Connection under Window.
2.2 Compile and Install YDLidar-SDK
Ydlidar_ros_driver depends on the YDLidar-SDK library. If the user has never installed the
YDLidar-SDK library, or it has expired, the user must first install the YDLidar-SDK library. If the
user has the latest version of YDLidar-SDK installed, please skip this step, then go to the next step.
2.3 ROS Driver Installation
1) Cloning GitHub's ydlidar_ros_driver package:
2) Build the Ydlidar_ros_driver software package:
3) Package environment Settings:
Note: add a permanent workspace environment variable. It will be very convenient if ROS
environment variables are automatically added to your bash session every time you start a new shell:
4) Verify that your package path is set, echo the ROS_PACKAGE_PATH variable.
$git clone https://github.com/YDLIDAR/YDLidar-SDK.git
$cd YDLidar-SDK/build
$ cmake ..
$ make
$ sudo make install
$ sudo make install
$ git clone https://github.com/YDLIDAR/ydlidar_ros_driver.git
TIA_ros/src/ydlidar_ros_driver
$ cd ydlidar _ws
$ catkin_make
$ source ./devel/setup.sh
$ echo "source ~/ydlidar_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
$ echo $ROS_PACKAGE_PATH

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Users should see something like this: /home/tony/ydlidar_ws/src:/opt/ros/melodic/share.
5) Create Serial Port Alias [Optional]
Note: After completing the previous operation, re-insert the LiDAR again.
2.4 Run ydlidar_ros_driver
Run ydlidar_ros_driver with startup file, as shown below:
2.5 RVIZ Viewing Scan Results
Run the launch file and open rviz to view the TEA scan results, as shown in the following
figure:
Note: Take G4 as an example by default. If you use other lidars, change the lidar.launch file in lidar_view.launch
file to the corresponding **.launch. (If using TEA lidar, change to TEA.launch)
FIG 16 YDLIDAR TEA RVIZ
$ chmod 0777 src/ydlidar_ros_driver/startup/*
$ sudo sh src/ydlidar_ros_driver/startup/initenv.sh
$ roslaunch ydlidar_ros_driver TEA.launch
$ roslaunch ydlidar_ros_driver lidar_view.launch

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2.6 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, you need to modify the configuration parameters in the launch file. The
specific operation is as follows:
1) Go to the directory where the corresponding [launch file] is located and edit the file, as shown in
the figure:
FIG 17 TEA .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 TEA 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.
$ vim TEA.launch

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FIG 18 YDLIDAR TG COORDINATES DEFINITION

Copyright 2023 EAI All Rights Reserved 12 / 12
3Revise
Date
Version
Content
2023-08-10
0.1.0
The 1st release