YDLIDAR SDK  V1.4.5
README
YDLIDAR

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 .

Licence

The SDK itself is licensed under BSD [license](license)

Release Notes

Title Version Data
SDK 1.4.5 2020-01-04

Dataset

Model Baudrate Sampling Frequency Range(m) Scanning Frequency(HZ) Working temperature(°C) Laser power max(mW) voltage(V) Current(mA) Intensity
TG15 512000 20000 0.1-15 3-15.70-50~54.8-5.2400-480false
TG30 512000 4000 0.1-30 3-15.70-50~54.8-5.2400-480false
TG50 512000 4000 0.1-50 3-15.70-50~54.8-5.2400-480false
G2A 230400 5000 0.12-12 5-120-50~54.8-5.2400-480false
G2 230400 5000 0.12-12 5-120-50~54.8-5.2400-480true
G2C 230400 4000 0.12-12 5-120-50~54.8-5.2400-480false

How to build YDLIDAR SDK samples

$ git clone https://github.com/ydlidar/sdk

$ cd sdk

$ git checkout TOF

$ cd ..

$ mkdir build

$ cd build

$ cmake ../sdk

$ make          ###linux

$ vs open Project.sln   ###windows

How to run YDLIDAR SDK samples

$ cd samples

linux:

$ ./ydlidar_test
$Please enter the lidar serial port:/dev/ttyUSB0

windows:

$ ydlidar_test.exe
$Please enter the lidar serial port:/dev/ttyUSB0

You should see YDLIDAR's scan result in the console:

[YDLIDAR]:SDK Version: 1.4.5
[YDLIDAR]:Lidar running correctly ! The health status: good
[YDLIDAR] Connection established in [/dev/ttyUSB0][512000]:
Firmware version: 1.3
Hardware version: 1
Model: TG30
Serial: 2020010200010001
[YDLIDAR INFO] Current Sampling Rate : 20K
[YDLIDAR INFO] Current Scan Frequency : 15.000000Hz
[YDLIDAR INFO] Now YDLIDAR is scanning ......
Scan received: 1329 ranges
Scan received: 1329 ranges

Data structure

See the protocol page for more info.

Coordinate System

Coordinate

Upgrade Log

2020-01-04 version 1.4.5

1.Supports new and old protocol tof lidar.

1.Display of version number and serial number of single communication lidar.

2019-12-03 version 1.4.4

1.Supports all standard Lidars.

2019-12-03 version 1.4.3

1.support G4 G6 TG lidar

2019-08-29 version 1.4.2

1.offset angle.

2019-08-12 version 1.4.2

1.support G2 G2A G2C.

2019-05-10 version:1.4.1

1.fix memory leak.

2019-03-25 version:1.4.0

1.fix Large motor resistance at startup issues.

2.fix ascendScanData timestamp issues.

3.check lidar abnormality when turn on lidar.

4.only support G4 lidar

5.Remove other lidar model interfaces functions.

6.fix turnOn function.

2018-12-07 version:1.3.9

1.Remove other lidar model interfaces functions.

2.Remove heartbeat

2018-11-24 version:1.3.8

1.Reduce abnormal situation recovery time.

2.fix timestamp from zero.

2018-10-26 version:1.3.7

1.add input angle calibration file.

2.remove network.

2018-10-15 version:1.3.6

1.add network support.

2018-05-23 version:1.3.4

1.add automatic reconnection if there is an exception

2.add serial file lock.

2018-05-14 version:1.3.3

1.add the heart function constraint.

2.add packet type with scan frequency support.

2018-04-16 version:1.3.2

1.add multithreading support.

2018-04-16 version:1.3.1

1.Compensate for each laser point timestamp.

Contact EAI

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