YDLIDAR SDK

Introduction

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 .

Release Notes

• [new feature] output scan frequency.
• [new feature] repair Device health exception.

Dataset

Support LIDAR Model(Only S4Pro support intensity)

How to build YDLIDAR SDK samples

$ 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:

1. install cmake(if there is no cmake)

2. 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:

3. Compile wth Qt: 1). Qt configuration cmake 2). Open the CmakeLists.txt project file with Qt.

How to run YDLIDAR SDK samples

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

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];

      }

    }

Quick Start

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.

Simple Usage

    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.

Get Lidar List:

    std::vector<string> ports =  YDlidarDriver::lidarPortList();

    for(std::vector<string>::iterator it = ports.begin(); it != ports.end(); it++) {

            printf("%s\n",  (*it).c_str());

     }

Coordinate System

The relationship between the angle value and the data structure in the above figure:

double current_angle =  scan.config.min_angle + index*scan.config.ang_increment;// radian format
doube Angle = current_angle*180/M_PI;//Angle fomat

Contact EAI

If you have any extra questions, please feel free to contact us