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Nodes

neato_laser_publisher

neato_laser_publisher ROS wrapper for the xv11_laser_driver library also available in this package.

Published Topics

scan (sensor_msgs/LaserScan)

• Scan data from the laser. Under normal conditions, contains 360 pings at 1 degree increments.

Parameters

~port (string, default: /dev/ttyUSB0)

• The device path

~baud_rate (int, default: 115200)

• The baud rate to receive laser data. Should not be changed from 115200 unless the laser's baud rate is changed (by a firmware upgrade, for example).

~firmware_version (int, default: 1)

• The firmware version that attempts to interpret the byte format of the laser. There are two known firmwares right now. One is noted for sending all 360 pings in a structure. This is probably the older firmware and is "1" for this value. The other sends the pings 4 at a time. This is probably the newer firmware and is "2" for this value. There isn't a reliable way to get the firmware version from the laser right now, so you'll have to set this and check a visualization of the pings in order to see if the driver is correctly interpreting the laser bytes.

~frame_id (string, default: neato_laser)

• The laser data frame. This frame should be at the optical center of the laser, with the x-axis along the zero degree ray, and the y-axis along the pi/2 degree ray.

Library

XV11 Laser Driver

xv11_laser_driver is a C++ library for reading the data from the XV11's laser and packing that data into a sensor_msgs/LaserScan. As a standalone library, it has no ROS API.