YUJIN ROBOT YRL3V2 Series 3D Laser Scanner User Guide

: June 8, 2024
: YUJIN ROBOT

Table of Contents

YUJIN ROBOT YRL3V2 Series 3D Laser Scanner
Introduction
Installing the driver package
Running the driver package
Using the test code
References
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YUJIN ROBOT YRL3V2 Series 3D Laser Scanner

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Introduction

Yujin Robot provides a driver package for YUJIN LiDAR. You can install and use the driver package in Ubuntu OS.

Ubuntu is an open-source OS.
How to enter commands in Ubuntu OS: Run “ctrl +alt + t” on the desktop to enable the Terminal window and enter the desired command.
Note: This document is prepared for users of Ubuntu 20.04.

Installing the driver package

The driver package folder “yujinrobot_yrldriver” contains the following items:

build (Create a new “build” folder.)
CMake
yujinrobot_yrldriver
CMakeLists.txt

Creating a build folder

Create a new folder named “build”.

Create a new “build” folder under the “yujinrobot_yrldriver” folder.
Launch the Terminal window in the newly created “build” folder.
Enter the command to set up the compile preferences.
- Command: CMake…
Check if all of the files below are created in the “build” folder.
Enter the command to compile the source code.
- Command: make install
Check if an additional file has been created in the “build” folder as shown below. The ”lib_yujinrobot_yrldriver” folder contains a test execution file and a driver library file.

Running the driver package

Setting up the library path

Launch the Terminal window and create a configuration file to set up the library path. Enter the command below.
- Command: ~$ sudo gedit /etc/ld.so.conf.d/ [File name].conf
- [File name]: File name set by the user
In the file created, enter the [User’s absolute path] and [Library file path] as shown below.
- [User’s absolute path]: File path set by the user
- [Library file path]: yujinrobot_yrldriver/build/lib_yujinrobot_yrldriver/lib
Configure the shared library cache again. Enter the command below.
- Command: sudo ldconfig

Running the test code

Provided test code:
- test_yrl_library
- test_IP_change
- test_mode_change
- test_recover_network
test_yrl_library run command: [executable file name] [IP address]
- example) ./test_yrl_library 192.168.1.250
- test_IP_change run command: [executable file name] [current IP address] [new IP address]
- example) ./test_IP_change 192.168.1.250 192.168.11
- test_mode_change run command: [executable file name] [IP address] [mode]
- example) ./test_mode_change 192.168.1.250 1
- test_recover_network run command: [executable file name] [IP address]
- example) ./test_recover_network 192.168.1.250

Go to the folder that contains the “test code execution file”.
- yujinrobot_yrldriver/build/lib_yujinrobot_yrldriver/bin/yujinrobot_yrldriver
Launch the Terminal window and enter the command to run the test code.

Using the test code

Yujin Robot provides a sample test code “test_yrl_library.cpp” for using the driver.

File path: yujinrobot_yrldriver/yujinrobot_yrldriver/src/test/ test_yrl_library.cpp

The main () in the “test_yrl_library.cpp” provides the function call order as an annotation.

Create the driver object.
Enter LiDAR’s IP address.
Establish TCP connection with LiDAR using the IP address.
You can read and modify the processing parameters for data input/output.
Functions that output sensor values are specified as annotations. One of the following two functions will be used:
- void GetCartesianOutputsWithIntensity() : Get the intensity and coordinates of the point cloud.
- void GetSphericalOutputsWithIntensity(): Get the intensity, range, horizontal angle, and vertical angle of the point cloud.
While running the code, the Network Recovery function is provided in the following cases:
- When LiDAR is turned off
- When LiDAR is disconnected from Ethernet
- When connecting another LiDAR