I got the LIDAR SDK software installed today, which allows me to hear the LIDAR spinning and confirm the unit is functioning correctly.
While I have ROS2 “desktop” installed on my desktop system and ROS2 “base” installed on my GoPiGo3, I have not learned how to use either, so this test was with the SDK’s ydlidar_test program.
The software install method is at the bottom of this post, and now for the 1 minute “ta da!” experience: ( TL,DW;) LIDAR +3dBA barely audible )
Setup YDLIDAR X4 on ROSbot
- Linux OS: Using Ubuntu 20.04 Server LTS 64-bit
- External 5v power connected to microUSB of Interface Card
- USB A to USB C cable from RPi to Interface Card
==== Download and Install Latest SDK
$ cd ~ (/home/pi) $ git clone https://github.com/YDLIDAR/YDLidar-SDK $ cd YDLidar-SDK/build $ cmake .. $ make $ sudo make install ... -- Installing: /usr/local/bin/ydlidar_test <-- only applicable test for YDLIDAR X4 ... === RUN YDLIDAR TEST=== /usr/bin/ydlidar_test - Baudrate? 1 (128000) - one-way? no - scan freq? 5 \ \ / / _ \| | |_ _| _ \ / \ | _ \ \ V /| | | | | | || | | |/ _ \ | |_) | | | | |_| | |___ | || |_| / ___ \| _ < |_| |____/|_____|___|____/_/ \_\_| \_\ Baudrate: 0. 115200 1. 128000 2. 153600 3. 230400 4. 512000 Please select the lidar baudrate:1 Whether the Lidar is one-way communication[yes/no]:no Please enter the lidar scan frequency[5-12]:5 YDLidar SDK initializing YDLidar SDK has been initialized [YDLIDAR]:SDK Version: 1.0.3 LiDAR successfully connected [YDLIDAR]:Lidar running correctly ! The health status: good [YDLIDAR] Connection established in [/dev/ttyUSB0]: Firmware version: 1.10 Hardware version: 1 Model: X4 Serial: 2020062200002315 LiDAR init success! [YDLIDAR3]:Fixed Size: 1020 [YDLIDAR3]:Sample Rate: 5K [YDLIDAR INFO] Current Sampling Rate : 5K [YDLIDAR INFO] Now YDLIDAR is scanning ...... Scan received: 567 ranges is [8.833922]Hz Scan received: 572 ranges is [8.756567]Hz Scan received: 571 ranges is [8.771930]Hz ^C signal_handler(2) 281473638449600 thread has been canceled [YDLIDAR INFO] Now YDLIDAR Scanning has stopped ......
=== Power Measurements
- 132mA at battery 12v motor off, RPi shutdown (150mA at 11v)
- 12mA at battery 11v motor off, RPi and GoPiGo3 up (after ran ydlidar_test)
- 55mA at 11v scanning at 5 Hz