7.1 LiDAR Scanning
With a compatible YDLidar accessory connected, Ranger can display a 360° scan on its screen and stream the point cloud to a browser. This section describes the current Ranger application; available controls and sensor limits can differ on other hardware or images.
Connect and start
Connect the LiDAR’s USB-C port to the USB-C port below Ranger’s display with a USB-C to USB-C data cable. Bluetooth pairing is not required for this wired sensor connection.
Open Demos / Sample Programs, select Radar Scan with A/B, and press D.
Wait for initialization and the live scan points to appear. The current default display range is 3.0 m, with a scan frequency of 10 Hz.
Read the device display
Item | Meaning |
|---|---|
Points | Valid scan points within the selected display range |
Range | Display range; updated when changed from the browser |
Freq | Configured scan frequency |
Connection status | Initializing, connected or not connected |
Distance rings | Five rings; at the default 3 m range their marks are 0.6, 1.2, 1.8, 2.4 and 3 m |
Point color on device | Distance |
|---|---|
Red | Less than 1.5 m |
Yellow | At least 1.5 m and less than 3 m |
Green | At least 3 m, within the selected display range |
Browser view
Keep Radar Scan running and connect the phone or computer to the same LAN as Ranger.
Open
http://<robot-ip>:9001/, replacing the placeholder with the current device IP.Use the range and frequency selectors. Range is 1–10 m in 1 m steps (default 3 m); frequency options are 10, 8, 6, 5 and 4 Hz (default 10 Hz).
After changing frequency, wait for the LiDAR to reinitialize and resume scanning.
The browser uses a continuous distance-color scale. A display range setting is not a guarantee of sensor measuring range: actual range depends on the connected LiDAR and scene.
Exit and troubleshoot
Press C to return to Demos. The currently documented Ranger image exits this demo after approximately 2 minutes; open Radar Scan again to continue.
Problem | Check |
|---|---|
No scan / not connected | Confirm both ends of the data cable and the port below the display. The application retries the connection. |
Browser unavailable or signal lost | Confirm the same LAN, correct device IP and port 9001, and that Radar Scan is still running. Restart the demo after timeout, then refresh. |
Initializing | Wait for the scan to begin, particularly after changing frequency. |