Difference between revisions of "Hood XV 11 ROS Install"
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** [https://www.sparkfun.com/news/490 Neato Robotics XV-11 Tear-down Neato Robotics XV-11 tear down] | ** [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://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 | * Software | ||
** [http://wiki.ros.org/xv_11_laser_driver ROS driver] | ** [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] | ** [http://wiki.ros.org/xv_11_laser_driver/Tutorials/Running%20the%20XV-11%20Node Tutorial] | ||
| + | ** [http://wiki.ros.org/rviz/DisplayTypes/Odometry rviz odom display] | ||
** [https://xv11hacking.wikispaces.com/Connecting+to+ROS Connecting to ROS] | ** [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. | ** [http://meetjanez.splet.arnes.si/2015/08/22/neato-xv-11-to-ros-slam/ XV-11 Tutorial] shows how to use rviz. | ||
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sudo chmod 666 /dev/ttyUSB0 | sudo chmod 666 /dev/ttyUSB0 | ||
rosrun xv_11_laser_driver neato_laser_publisher _port:=/dev/ttyUSB0 _firmware_version:=2 | rosrun xv_11_laser_driver neato_laser_publisher _port:=/dev/ttyUSB0 _firmware_version:=2 | ||
| + | |||
| + | == Test == | ||
| + | |||
| + | rostopic echo /scan | ||
== Monitor == | == Monitor == | ||
| + | |||
rosrun rviz rviz | 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] | 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]] | + | [[Image:rviz_xv11.png]] [[Image:xv11_scan.png]] |
Latest revision as of 11:36, 24 May 2016
Contents
References
- Hardware
- The physical unit was ordered from ebay. It can also be found on Amazon.
- Connecting with USB
- XV Lidar Controller: This controller simplified hookup.
- Hacking the X11 LIDAR Sensor
- Neato Robotics XV-11 Tear-down Neato Robotics XV-11 tear down
- XV-11 Tutorial
- Deyle intro
- Software
- ROS driver
- Tutorial
- rviz odom display
- Connecting to ROS
- 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 [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: Neator XV-11 to ROS SLAM turtorial
