The benchmark in affordable LiDAR 2D scanning technology. Excellent performance for the price.

SKU: YDL901X4P Category:


The YDLIDAR X4 Lidar is a 360-degree two-dimensional distance measurement product developed by the YDLIDAR team. This product is based on the principle of triangulation, and is equipped with relevant optics, electricity, and algorithm designed to realize high-frequency and high-precision distance measurement. At the same time as the distance measurement, 360 degrees of scanning distance measurement is achieved by continuously obtaining the angle information through the 360 degree rotation of the motor.

Product Features

The X4 LiDAR has the following features:

  • 360-degree scanning distance measurement
  • Small distance error; stable distance measurement and high accuracy
  • Wide ranging range, not less than 10m
  • Strong resistance to ambient light interference
  • Industrial grade brushless motor drive, stable performance
  • Laser power meets Class I laser safety standards
  • 360 degree omnidirectional scanning; 6-12Hz adaptive scanning frequency
  • High-speed ranging, ranging frequency up to 5000hz

This is a good entry-level device for cost-sensitive applications.


The X4 LiDAR specification highlights:

  • Scan range: 0.12 – 10 m
  • Scan rate: 6 – 12 Hz, user-configurable
  • Angular resolution (typical): ~0.5 degrees, user-configurable*
  • Angular range: 360 degrees
  • Range accuracy: < 1% of distance

The above specification makes this device well suited to indooor SLAM applications.





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2 Comments on “YD LiDAR X4

  1. Hi,

    We are building a navigation robot for a university project and were wondering which wires (if any) come with the YD LiDAR X4. We would like the device to be able to connect with raspberry pi at some point in the project but initially, we would like to be able to connect the device directly to a laptop. By wire, if that’s necessary.

    Kind Regards,
    Team Forsberg.

    • Hi Sam,

      The X4 comes with a UART (serial) interface plus an optional external USB adapter board. I recommend using the adapter. It’s possible to connect the X4 directly to the Pi, but it’s not easy.

      Using the adapter, you can connect the LiDAR to your laptop. YD LiDAR has a Windows app you can use to see the output from the X4. You will need two USB connections to the adapter board, one for power and one for data. Use of a powered USB hub can be a good idea if your laptop does not have enough USB connections, or if it seems unable to provide the necessary power.

      When it’s time to connect to the Pi, simply plug both of the USB cables into the Pi. Then load the YD LiDAR ROS driver, ensuring that you have the correct port and baudrate specified in the launch file. Which for us was:

      param name="port"         type="string" value="/dev/ttyAMA0"
      param name="baudrate"     type="int"    value="128000"

      Documentation can be found here:


      Wishing you success with your project!

      Best Regards

      John Jordan

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