YDLIDAR TIA User manual

Shenzhen EAI Technology Co.,Ltd.
DOC#:01.13.005102
www.ydlidar.com
YDLIDAR TIA
USER MANUALBETA

Copyright 2022 EAI All Rights Reserved
CONTENTS
1OPERATION UNDER WINDOWS ...........................................................1
1.1 Device Connection .................................................................................... 1
1.2 Network setting ......................................................................................... 1
1.3 Device Management................................................................................. 2
1.4 How to Use LidarViewer ........................................................................... 3
1.4.1 Start Scanning......................................................................................................... 4
1.4.2 Data Storage............................................................................................................ 5
1.4.3 Parameter Configuration (Scanning Frequency)............................................ 5
1.4.4 Display Mean and Standard Deviation............................................................... 5
1.4.5 Play and Record ...................................................................................................... 6
2LINUX ROS OPERATION .........................................................................7
2.1 Device Connect .......................................................................................... 7
2.2 Compile and Install TIA_SDK................................................................... 7
2.3 ROS Driver Installation.............................................................................. 8
2.4 Run the TIA.launch .................................................................................... 9
3REVISE..................................................................................................... 10

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1OPERATION UNDER WINDOWS
1.1 Device Connection
When TIA is evaluated and developed under windows, TIA and PC need to be interconnected.
The specific process is as follows:
FIG 1 YDLIDAR TIA 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
TIA 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 TIAViewer 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 TIAvier to pass through the
firewall.
1.3 Device Management
TIA can manage the device through the web. After the device is powered on normally, enter the
device IP in the browser and log in to the web interface, as shown below:
FIG 3 WEB INTERFACE MANAGEMENT
The device information can be obtained and the device can be configured through the web
interface. The definition of each configuration item is as follows:
➢Device model: device model information;
➢S/N: device serial number;
➢MAC: MAC address of device;
➢Firmware version: firmware version number, which will be updated automatically after
firmware upgrade;
➢Software version: software version number, which will be updated automatically after software
upgrade;
➢Emission control: control laser emission, on means start, off means stop;
➢Rotation control: control the motor rotation and set the motor speed. The setting range of the
motor speed is 900~1800. Click "Set" button and the setting will take effect;
➢FOV control: control the scanning field angle, and set the starting scanning angle and ending
scanning angle through Start and End values. The minimum setting value of Start is 30, and the
maximum setting value of End is 330. The setting takes effect after clicking the "Set" button;
➢Transmission configuration: configure the data transmission parameters, and set the IP address
and port number of the destination host through IP and Port. The default IP is broadcast IP, and
the port number is 8000. After changing any of the configurations, the user need to click the

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"Save" button to save the settings. After the device is restarted, the settings will take effect;
(USB transmission is not supported temporarily)
➢Network configuration: configure the device network parameters, set the device IP address,
subnet mask, gateway, and set DHCP to automatically obtain the IP address. After changing any
of the configurations, the user need to click the "Save" button to save the settings. After the
device is restarted, the settings will take effect;
➢Upload the upgrade file: set the upgrade, select the upgrade file, click "Upload", and the
"Upgrading" window will pop up. Please keep the power connection stable during the upgrade.
After the upgrade is completed, the device will restart and take effect;
➢Upload calibration file: upload calibration file;
➢Save configuration: save all the current web configuration items and take effect after the device
is restarted;
➢System reset: click to restart the device;
➢Lidar map preview: load the point cloud data visualization software to preview the Lidar map;
1.4 How to Use LidarViewer
YDLIDAR provides TIAViewer, a point cloud data visualization software for TIA real-time
scanning. Users can use this software to visually observe the TIA scanning map: YDLIDAR
provides TIA 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: TIAViewer.exe, select the corresponding model number (default
IP: 192.168.0.11). Meanwhile, users could choose language on the top right corner.
FIG 4 YDLIDAR TIA EVALUATION SOFTWARE
If lidar IP address has been changed, add a custom model as follows, The IP address will be
automatically searched, and users can also click "Modify" to update the IP address.

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FIG 5 YDLIDAR TIA PARAMETER CONFIGURATION
1.4.1 Start Scanning
Click "Start/Stop" in the Stopped state. Click 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 to stop it. as shown below:
FIG 6 LIDAR SCANNING POINT CLOUD DISPLAY

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1.4.2 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.
FIG 7 SAVE DATA
1.4.3 Parameter Configuration (Scanning Frequency)
Click [Tools] in the main menu and select [Parameter Configuration] to configure the
"Sampling Frequency" and "Scanning Frequency".
FIG 8 PARAMETER CONFIGURATION
1.4.4 Display Mean and Standard Deviation
Click [Tools] in the main menu, then select [Mean And STD] - [View].
FIG 9 YDLIDAR TIA DISPLAY MEAN AND STANDARD DEVIATION
Choose one according to the user requirement, move the mouse to the test position, right-click
the pop-up menu, and select [Lock Mouse Tracking].

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FIG 10 LOCK MOUSE TRACKING
1.4.5 Play and Record
Click [Tools] in the main menu, then select [Record and Play].
FIG 11 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:

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FIG 12 PLAY PROCESS
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/TIA_SDK
ROS driver address:
https://github.com/YDLIDAR/TIA_ros_driver
2.1 Device Connect
Under Linux, the interconnection process between TIA and PC is consistent with the operation
under Windows, see Device Connection under Window.
2.2 Compile and Install TIA_SDK
TIA_ros_driver depends on the TIA_SDK library. If the user has never installed the TIA_SDK
library, or it has expired, the user must first install the TIA_SDK library. If the user has the latest
version of TIA_SDK installed, please skip this step, then go to the next step.

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2.3 ROS Driver Installation
1) Cloning GitHub's TIA_ros_driver Package:
2) Build the TIA_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.
Users should see something like this: /home/tony/TIA_ros/src:/opt/ros/melodic/share.
5) Create Serial Port Alias [Optional]
Note: After completing the previous operation, re-insert the LiDAR again.
$git clone https://github.com/YDLIDAR/TIA_SDK.git
$cd TIA_SDK/build
$ cmake ..
$ make
$ sudo make install
$ git clone https://github.com/YDLIDAR/TIA_ros_driver.git
TIA_ros/src/TIA_ros_driver
$ cd TIA_ros
$ catkin_make
$ source ./devel/setup.sh
$ echo "source ~/TIA_ros/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
$ echo $ROS_PACKAGE_PATH
$ chmod 0777 src/TIA_ros_driver/startup/*
$ sudo sh src/TIA_ros_driver/startup/initenv.sh

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2.4 Run the TIA.launch
Run launch file, as shown below:
$ cd src/TIA_ros_driver/launch
$ roslaunch TIA.launch

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3Revise
Date
Version
Content
2022-12-21
0.1.0
The 1st release
2023-05-22
0.1.1
Optimizing SDK&ROS directives