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→LIDAR API Commands
==Connecting to ROS==
=== '''ROS Driver''' ===
There is a ROS driver that connects to the XV-11 through the USB port, documentation can be found on the [https://wiki.ros.org/neato_robot ROS wiki]. This driver includes both an ROS-independent python implementation and an ROS node wrapper for the python implementation. It currently controls the mobile base, provides odometry feedback, and publishes laser scans. Future versions will include battery and sensor access features (the currently exist in the ROS-independent code, but have not yet been given a proper ROS API).
=== '''Install ROS on Ubuntu''' ===
''The following procedure will help you install the Robot Operating System on Ubuntu 10.10 for use with the XV-11.''
<nowiki>#</nowiki>testmode off
== Interfacing with LIDAR Sensor ==
I created a board to interface the LIDAR sensor to a PC without the rest of the XV-11. The PCB consists of a PIC18F2221, and FTDI-232R, a 3.3V regulator, and a Fet for controlling the motor. The pic watches the data from the LIDAR and uses the speed information to control the PWM pin attached to the FET. In this way the correct speed can be maintained. The Firmware for the pic currently only supports the old LIDAR firmware ( that is what I have). Hopefully someone else can modify it to work with the other firmware as well. There are jumpers for configuring who talks to what between the PC, PIC, and LIDAR. There are also options for supplying your own 5V instead of getting it from USB and an option for using an XBEE for wireless communication. Schematics are posted below as well as the Eagle brd files. Source code for the PIC will be posted soon. I have spare boards for sale if anyone is interested. Ringo (dot) Davis (at) gmail (dot) com.
[[File:LIDAR mounted on PCB.jpg|none|thumb|533x533px|LIDAR mounter on interface board]]
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== LIDAR API Commands ==
Commands available from the LIDAR via direct serial connection or through the Main PCB API To access the API directly via the serial connection of the sensor, send an ESCAPE character (0x1B). The lidar then responds with an invite : “#” You can then enter commands (below is the result of Help command, some additional hidden commands are probably available)
<br />
SUCCEEDED
Wanderer
Draws a squirrel in a heart, in ASCII art...
Example:
[[File:Wanderer Screen Shot.png|none|thumb|400x400px]]
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== LIDAR Mechanical Info ==
Place any info here relating to mechanical aspects of the LIDAR.
* Weight: ~195.3g
* Use TE 440054-4 and TE 440054-2 for the 4-pin signal and 2-pin power connectors (thanks chenglung)
** You can get free samples of these parts from TE’s website
Here are 2D CAD files of the XV-11’s LIDAR unit, in mm. Thanks goes to chenglung from the trossen robotics forums:
* In Files section at bottom of page
** XV-11_LDS CAD.zip
** XV-11 LDS.pdf
And here’s a 3D CAD model of the LIDAR unit. Note that I used the 2d cad files above along with my own measurements, so be warned that the following is not completely accurate. Also, I’m no CAD professional, so you won’t find much detail in the model - just enough to account for any significant design properties which may be useful to know when building the module into your own application:
* In Files section at bottom of page
** xv-11_lidar.SLDPRT
** xv-11_lidar.STL
** xv-11_lidar.IGS
** xv-11_lidar.PDF
If anyone needs the file in some other format, just send me a request and I’ll try to help you out: rus.tech.studio ‘@’ gmail.com
