YDLIDAR TIA Laser Rangefinder User Manual
- June 17, 2024
- YDLIDAR
Table of Contents
YDLIDAR TIA Laser Rangefinder
Specifications
- Brand: YDLIDAR
- Model: TIA
- Manufacturer: Shenzhen EAI Technology Co.,Ltd.
- Website: www.ydlidar.com
Product Usage Instructions:
Device Connection
When using TIA under Windows, ensure the following steps are taken for 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.
- Connect the DC port to the power socket using the provided 12V-1A power adapter.
Network Setting
Before connecting to the lidar for the first time, ensure that the network
parameters of the PC and lidar are set in the same network segment and do not
conflict with each other. Follow these steps:
- IP address: 192.168.0.11
- Subnet mask: 255.255.255.0
OPERATION UNDER WINDOWS
Device Connection
When TIA is evaluated and developed under windows, TIA and PC need to be
interconnected.
The specific process is as follows
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.
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
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.
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 theSave” 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;
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.
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:
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.
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.
Parameter Configuration (Scanning Frequency)
Click [Tools] in the main menu and select [Parameter Configuration] to
configure the “Sampling Frequency” and “Scanning Frequency”.
Display Mean and Standard Deviation
Click [Tools] in the main menu, then select [Mean And STD] – [View].
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].
Play and
Record
Click [Tools] in the main menu, then select [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
LINUX 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
Device Connect
Under Linux, the interconnection process between TIA and PC is consistent with
the operation under Windows, see Device Connection under Window.
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.
- git clone https://github.com/YDLIDAR/TIA_SDK.git $cd TIA_SDK/build
- cmake ..
- make
ROS Driver Installation
-
Cloning GitHub’s TIA_ros_driver Package:
git clone https://github.com/YDLIDAR/TIA_ros_driver.git TIA_ros/src/TIA_ros_driver -
Build the TIA_ros_driver software package:
- cd TIA_ros
- catkin_make
-
Package environment Settings:
source ./devel/setup.sh
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:- echo “source ~/TIA_ros/devel/setup.bash” >> ~/.bashrc
- source ~/.bashrc
-
Verify that your package path is set, echo the ROS_PACKAGE_PATH variable.
echo $ROS_PACKAGE_PATH
Users should see something like this: /home/tony/TIA_ros/src:/opt/ros/melodic/share. -
Create Serial Port Alias [Optional]
- chmod 0777 src/TIA_ros_driver/startup/*
- sudo sh src/TIA_ros_driver/startup/initenv.sh
Note: After completing the previous operation, re-insert the LiDAR again.
Run the TIA.launch
Run launch file, as shown below
- cd src/TIA_ros_driver/launch
- roslaunch TIA.launch
Revise
Copyright 2022 EAI All Rights Reserved
References
- SETUP.SH
- GitHub - YDLIDAR/TIA_ros_driver
- GitHub - YDLIDAR/TIA_ros_driver
- GitHub - YDLIDAR/TIA_SDK
- GitHub - YDLIDAR/TIA_SDK
- GitHub - YDLIDAR/ydlidar_ros_driver: ydlidar driver package under ros