Hood XV 11 ROS Install

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
• Software
  • ROS driver
  • Tutorial
  • 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