<> <> == Overview == This package provides a node wrapper for the neato_driver code. It allows control of the Neato XV-11. == ROS API == {{{ #!clearsilver CS/NodeAPI name=neato.py desc=Provides an ROS interface to the Neato XV-11 robot. pub { 0.name = /base_scan 0.type = sensor_msgs/LaserScan 0.desc = Laser output from the Neato robot. 1.name = /odom 1.type = nav_msgs/Odometry 1.desc = Odometry output from the Neato robot. } sub { 0.name = /cmd_vel 0.type = geometry_msgs/Twist 0.desc = Velocity commands for the mobile base } param { 0.name = ~port 0.type = str 0.desc = Name of serial port to use. 0.default = /dev/ttyUSB0 } }}} == Running == Plug in your neato. Then run: {{{ lsusb }}} Find the neato device (ours was ID 2108:780b). Then: {{{ sudo modprobe usbserial vendor=0x2108 product=0x780b }}} You should now have a /dev/ttyUSBX like device connected. You can start the neato node by: {{{ roslaunch neato_node bringup.launch }}} This loads the node and a static TF transformer for base_laser to base_link. ## AUTOGENERATED DON'T DELETE ## CategoryPackage