View source for Hood XV 11 ROS Install

== References ==

* Hardware
** The physical unit was ordered from ebay. It can also be found on Amazon.
** [http://wiki.ros.org/xv_11_laser_driver/Tutorials/Connecting%20the%20XV-11%20Laser%20to%20USB Connecting with USB]
** [http://www.getsurreal.com/product/xv-lidar-controller-v1-2 XV Lidar Controller]: This controller simplified hookup.
** [https://xv11hacking.wikispaces.com/LIDAR+Sensor Hacking the X11 LIDAR Sensor]
** [https://www.sparkfun.com/news/490 Neato Robotics XV-11 Tear-down Neato Robotics XV-11 tear down]
** [http://meetjanez.splet.arnes.si/2015/08/22/neato-xv-11-to-ros-slam/ XV-11 Tutorial]
** [http://www.hizook.com/blog/2009/12/20/ultra-low-cost-laser-rangefinders-actualized-neato-robotics Deyle intro]
* Software
** [http://wiki.ros.org/xv_11_laser_driver ROS driver]
** [http://wiki.ros.org/xv_11_laser_driver/Tutorials/Running%20the%20XV-11%20Node Tutorial]
** [https://xv11hacking.wikispaces.com/Connecting+to+ROS Connecting to ROS]
** [http://meetjanez.splet.arnes.si/2015/08/22/neato-xv-11-to-ros-slam/ XV-11 Tutorial] shows how to use rviz.

== Install ==

  sudo apt-get install ros-indigo-xv-11-laser-driver

  sudo apt-get install ros-indigo-rviz

Dealing with adc-acm module. See [[https://xv11hacking.wikispaces.com/Connecting+to+ROS XV11 Hacking Connecting to ROS] for detail. The following was done as root. This causes the usbserial driver to be loaded and not the cdc_acm driver (USB Communications Device Class Abstract Control Model).
  
  echo "blacklist cdc_acm" >> /etc/modprobe.d/blacklist.conf
  
  echo "usbserial vendor=0x2108 product=0x780B" >> /etc/modules
  
  modprobe usbserial vendor=0x16c0 product=0x0483
  
  rmmod cdc_acm

== Execute ==

Terminal 1
  roscore

Terminal 2
  sudo chmod 666 /dev/ttyUSB0
  rosrun xv_11_laser_driver neato_laser_publisher _port:=/dev/ttyUSB0 _firmware_version:=2

== Test ==

  rostopic echo /scan

== Monitor ==

  rosrun rviz rviz

Configuration reference: [http://meetjanez.splet.arnes.si/2015/08/22/neato-xv-11-to-ros-slam/ Neator XV-11 to ROS SLAM turtorial]

[[Image:rviz_xv11.png]]