Documentation Status

Cannot load information on name: xv_11_laser_driver, distro: electric, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: xv_11_laser_driver, distro: fuerte, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: xv_11_laser_driver, distro: groovy, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Package Summary

Released Continuous integration Documented

Neato XV-11 Laser Driver. This driver works with the laser when it is removed from the XV-11 Robot as opposed to reading scans from the Neato's USB port.

Package Summary

Released Continuous integration Documented

Neato XV-11 Laser Driver. This driver works with the laser when it is removed from the XV-11 Robot as opposed to reading scans from the Neato's USB port.

Cannot load information on name: xv_11_laser_driver, distro: jade, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Package Summary

Released Continuous integration Documented

Neato XV-11 Laser Driver. This driver works with the laser when it is removed from the XV-11 Robot as opposed to reading scans from the Neato's USB port.

Package Summary

Released Continuous integration Documented

Neato XV-11 Laser Driver. This driver works with the laser when it is removed from the XV-11 Robot as opposed to reading scans from the Neato's USB port.

Cannot load information on name: xv_11_laser_driver, distro: melodic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

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.

Wiki: xv_11_laser_driver (last edited 2011-06-29 18:53:45 by EricPerko)