XV11 LIDAR on Jade
I'm following these tutorials on using the xv11 lidar with ROS:
http://wiki.ros.org/xv_11_laser_driver/Tutorials/Connecting%20the%20XV-11%20Laser%20to%20USB
http://wiki.ros.org/xv_11_laser_driver/Tutorials/Running%20the%20XV-11%20Node
looking at the raw input on /dev/ttyUSB0
2016-02-02 18:41:32.959795: /dev/ttyUSB0
53 43 73 20 6F 72 20 42 52 45 41 4B 20 74 6F 20 SCs or BREAK to
61 62 6F 72 74 2E 3A 29 0A 0D 50 69 63 63 6F 6C abort.:)..Piccol
6F 20 4C 61 73 65 72 20 44 69 73 74 61 6E 63 65 o Laser Distance
20 53 63 61 6E 6E 65 72 0D 43 6F 70 79 72 69 67 Scanner.Copyrig
68 74 28 63 29 20 32 30 30 39 2D 32 30 31 20 4E ht(c) 2009-201 N
65 61 74 6F 20 52 6F 2E 0A 0D 41 6C 6C 20 52 69 eato Ro...All Ri
67 68 74 73 20 52 65 73 65 72 76 65 64 0A 0D 0A ghts Reserved...
0D 4C 6F 61 64 65 72 09 56 32 2E 35 2E 31 34 30 .Loader.V2.5.140
31 30 0A 0D 43 50 55 09 46 32 38 30 32 78 2F 63 10..CPU.F2802x/c
30 30 31 0A 0D 53 65 72 69 61 6C 09 57 54 44 33 001..Serial.WTD3
34 34 31 32 41 41 2D 31 35 32 36 35 30 0A 0D 4C 4412AA-152650..L
61 73 74 43 61 6C 09 5B 35 33 37 31 32 36 43 5D astCal.[537126C]
0A 0D 52 75 6E 74 69 6D 65 09 56 32 2E 36 2E 31 ..Runtime.V2.6.1
35 32 35 0A 0D 23 53 70 69 6E 2E 2E 2E 33 20 45 525..#Spin...3 E
53 43 73 20 6F 72 20 42 52 45 41 20 74 6F 20 61 SCs or BREA to a
62 6F 72 74 2E 3A 29 0A 0D 50 69 63 63 6F 6C 6F bort.:)..Piccolo
20 4C 61 73 65 72 20 44 69 73 74 61 63 65 20 53 Laser Distace S
63 61 6E 6E 65 72 0D 43 6F 70 79 72 69 67 68 74 canner.Copyright
20 63 29 20 32 30 30 39 2D 32 30 31 20 4E 65 61 c) 2009-201 Nea
74 6F 20 52 6F 6F 74 69 63 73 2C 20 49 6E 63 2E to Rootics, Inc.
it looks like I'm getting data, but
rostopic hz /scan
is empty, as is
rostopic echo /scan
when I
rostopic list
I see
/rosout
/rosout_agg
/rpms
/scan
and it's the same for both versions of the firmware
I'm thinking that the driver might have problems with ROS Jade? I'm not sure what else could be going wrong.
Has anyone else got this working with ROS Jade?
are there any other drivers I could try?
Asked by Jack000 on 2016-02-02 21:54:37 UTC
Comments
Are you running : rosrun xv_11_laser_driver neato_laser_publisher _port:=/dev/ttyUSB0 _firmware_version:=2
Asked by Morpheus on 2016-02-04 12:45:59 UTC
yeah, the /scan topic only appears after running the driver. I've tried both versions of the firmware too.
Asked by Jack000 on 2016-02-04 13:17:37 UTC
The data dump from your laser almost looks like it's constantly rebooting.
Asked by ahendrix on 2016-02-04 13:37:26 UTC
What do you get when you run rostopic echo /rpms ?
Asked by Morpheus on 2016-02-04 13:37:30 UTC
I don't have the hardware connected now but /rpms is also empty I think. I'll check it when I hook it up again.
Asked by Jack000 on 2016-02-04 13:46:03 UTC
I've also tried powering the lidar and motor from 2.8->3.3 volts on a bench supply. At extreme ranges I stop getting data, the debug output is from 3.0v. I've checked to make sure current isn't being limited, it draws about 100mA
Asked by Jack000 on 2016-02-04 14:01:36 UTC
You probably shouldn't be running the motor and lidar from the same voltage source. I'd recommend that you run the motor from your variable supply, and the lidar from 3.3V
Asked by ahendrix on 2016-02-04 16:30:28 UTC
ok, I'll try that. The diagram on the tutorial had both at 3.0 so I thought that was the best way.
Asked by Jack000 on 2016-02-04 16:56:38 UTC
This is the web site that I used for the hardware on the xv_11 lidar unit: http://profmason.com/?p=13246 I had to run the python program and adjust the pot on the power supply for the correct rpm.
Asked by Morpheus on 2016-02-04 21:51:46 UTC