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I have had experience with Neato lidar dropping bytes if it is spinning too quickly. More to the point, if it is not spinning smoothly or too quickly. It uses 115200 baud on the serial port output, and at 5Hz spin rate it has virtually no extra bandwidth. If spinning at 5Hz but not spinning smoothly, there will be places in the rotation that it is actually rotating too quickly for the output to keep up...so you lose bytes, and the data stream get corrupted. This may part of the issue.
I corrected this initially by doing error checking on the data stream, but eventually had to just slow it down.
Try it again with the Neato rotation slowed down, or with a different RPM controller. If you have a way to inspect the data stream, you should try that as well to see if anything is missing.
How are you controlling the spin rate?
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