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Using xv-11 lidar

asked 2014-09-17 05:47:50 -0600

Morpheus gravatar image

Is anyone using the xv-11 lidar unit with their robot? I am in the process of incorporating the lidar unit with my bot and would like to share information.

Thank you

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answered 2014-09-20 00:32:42 -0600

jseal gravatar image

I have, Here's a rundown of what I've discovered. I was never able to get GMapping to draw a good map with it. HectorMapping did a decent job, but the maps were always slightly to big and the navigation stack never seem to work with them, my robot kept getting lost.

I ended up pulling out the tape measure and using gimp to draw a map of my house. Using my hand drawn map the xv-11 does a real good job of keeping my robot localized, I'm please with it.

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Have you checked if the lidar measurements are biased and show higher distances than they should?

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2014-09-20 02:27:11 -0600 )edit

They are correct when stationary, I suspect it has something to do with the 4 hz laser data and the minimum speed of my robot (0.1 m/s). I think the neato can go much slower than that.

jseal gravatar image jseal  ( 2014-09-20 09:00:16 -0600 )edit

What voltage are you powering your xv-11 at? I'm powering xv-11 at 5v and motor at 3v. I took mine apart when I wasn't getting good results and on the power pin of the pcb board was +5v. Something to check, also look at the firmware argument.

jseal gravatar image jseal  ( 2014-09-21 09:26:25 -0600 )edit

Yes, it works well with the navigation stack.

Two things to check, are you using the firmware version 2 option?
rosrun xv_11_laser_driver neato_laser_publisher _port:=/dev/ttyUSB0 _firmware_version:=2

and what is the average rpms from the following: rostopic echo /rpms

jseal gravatar image jseal  ( 2014-09-28 12:43:10 -0600 )edit

I found this (link below), the firmware version 1 is suppose to be powered with 3.3 volts, could be something.

link text

jseal gravatar image jseal  ( 2014-09-28 22:21:02 -0600 )edit

I did get the newer driver to work properly. The rpm of the lidar unit was adjusted to 300 RPM.

Morpheus gravatar image Morpheus  ( 2014-09-29 05:41:11 -0600 )edit

What did you have to change in the launch file to get a good scan?

Morpheus gravatar image Morpheus  ( 2014-11-15 07:01:58 -0600 )edit

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Asked: 2014-09-17 05:47:50 -0600

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Last updated: Sep 20 '14