Difference between revisions of "Hood XV 11 ROS Install"
From wikidb
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** [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. | ||
Revision as of 10:39, 12 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
