cwru_semi_stable: cwru_base | cwru_configs | cwru_goal_planner | cwru_maps | cwru_nav | cwru_sim_stage | cwru_teleop | playsound_recovery | xv_11_laser_driver
Package Summary
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.
- Author: Eric Perko, Chad Rockey
- License: BSD
- Repository: cwru-ros-pkg
- Source: git http://github.com/cwru-robotics/cwru-ros-pkg.git
Contents
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
- 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).
- 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.
- 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.