XV11 LIDAR on Jade

asked 2016-02-02 20:54:37 -0500

Jack000 gravatar image

updated 2016-02-03 15:05:55 -0500

I'm following these tutorials on using the xv11 lidar with ROS:

http://wiki.ros.org/xv_11_laser_drive...

http://wiki.ros.org/xv_11_laser_drive...

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?

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Comments

Are you running : rosrun xv_11_laser_driver neato_laser_publisher _port:=/dev/ttyUSB0 _firmware_version:=2

Morpheus gravatar imageMorpheus ( 2016-02-04 11:45:59 -0500 )edit

yeah, the /scan topic only appears after running the driver. I've tried both versions of the firmware too.

Jack000 gravatar imageJack000 ( 2016-02-04 12:17:37 -0500 )edit

The data dump from your laser almost looks like it's constantly rebooting.

ahendrix gravatar imageahendrix ( 2016-02-04 12:37:26 -0500 )edit

What do you get when you run rostopic echo /rpms ?

Morpheus gravatar imageMorpheus ( 2016-02-04 12:37:30 -0500 )edit

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.

Jack000 gravatar imageJack000 ( 2016-02-04 12:46:03 -0500 )edit

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

Jack000 gravatar imageJack000 ( 2016-02-04 13:01:36 -0500 )edit

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

ahendrix gravatar imageahendrix ( 2016-02-04 15:30:28 -0500 )edit

ok, I'll try that. The diagram on the tutorial had both at 3.0 so I thought that was the best way.

Jack000 gravatar imageJack000 ( 2016-02-04 15:56:38 -0500 )edit