PDA

View Full Version : [Question(s)] Trying to get the XV-11 to work



tinytron
10-12-2014, 05:11 AM
Hey community!

Noob here, I just registered in hope to get some hints on what I am doing wrong with my XV-11.

I bought the laser scanner from Ebay and am trying to get it to work in ROS.

What I have done so far:

- Connected the Lidar to ROS Indigo running Ubuntu in Virtualbox on a Windows Machine.

- For the power to the motor I am using a 3V regulator that gets its power form USB (5V).

- The sensor is powered by an Arduino with 3.3V for now.

- Instead of the Sparkfun FTDI board I am using a standard RS-232 to USB Adapter that is getting its data from the Lidard's Tx. The adapter gets accepted by Ubuntu. Dmesg shows:
usb 1-2: FTDI USB Serial Device converter now attached to ttyUSB0

- Running
rostopic echo /scan I get this:


---
header:
seq: 34
stamp:
secs: 1413106818
nsecs: 470585788
frame_id: neato_laser
angle_min: 0.0
angle_max: 6.28318548203
angle_increment: 0.0174532923847
time_increment: 0.00059940997744
scan_time: 0.0
range_min: 0.0599999986589
range_max: 5.0
ranges: [0.25600001215934753, 8.192000389099121, 4.928999900817871, 13.229000091552734, 13.300999641418457, 13.274999618530273, 10.946999549865723, 0.37700000405311584, 14.380999565124512, 15.883000373840332, 15.381999969482422, 0.25600001215934753, 8.960000038146973, 6.848999977111816, 13.114999771118164, 13.0649995803833, 13.126999855041504, 13.109000205993652, 0.36899998784065247, 14.380999565124512, 15.883000373840332, 15.378000259399414, 0.5120000243186951, 1.2799999713897705, 6.880000114440918, 13.14900016784668, 10.869000434875488, 9.96500015258789, 10.836999893188477, 0.37599998712539673, 14.348999977111816, 15.873000144958496, 15.847999572753906, 16.128000259399414, 11.008000373840332, 6.90500020980835, 11.003000259399414, 10.888999938964844, 10.954999923706055, 4.479000091552734, 0.33799999952316284, 15.279000282287598, 14.972999572753906, 7.293000221252441, 0.23399999737739563, 8.019000053405762, 8.29699993133545, 15.732999801635742, 15.833000183105469, 7.519999980926514, 11.776000022888184, 8.960000038146973, 6.888999938964844, 11.795000076293945, 13.74899959564209, 13.708999633789062, 11.914999961853027, 0.4320000112056732, 11.229000091552734, 16.277000427246094, 16.277000427246094, 9.472000122070312, 8.704000473022461, 3.884999990463257, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.295999526977539, 15.189000129699707, 16.277000427246094, 13.991999626159668, 9.472000122070312, 0.0, 3.628000020980835, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 7.690999984741211, 15.189000129699707, 16.277000427246094, 15.187999725341797, 9.472000122070312, 7.935999870300293, 3.627000093460083, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.399999618530273, 15.189000129699707, 16.277000427246094, 13.991999626159668, 9.472000122070312, 7.679999828338623, 3.625999927520752, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.295999526977539, 15.189000129699707, 16.277000427246094, 13.991999626159668, 9.472000122070312, 7.423999786376953, 13.097000122070312, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.406000137329102, 15.189000129699707, 16.277000427246094, 16.37700080871582, 15.871999740600586, 11.520000457763672, 14.026000022888184, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 0.43700000643730164, 16.35700035095215, 16.37700080871582, 16.356000900268555, 15.871999740600586, 4.0960001945495605, 14.001999855041504, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 0.43700000643730164, 16.047000885009766, 16.37700080871582, 16.327999114990234, 15.871999740600586, 8.192000389099121, 13.87399959564209, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 0.4359999895095825, 16.047000885009766, 16.37700080871582, 16.327999114990234, 15.871999740600586, 7.935999870300293, 15.142000198364258, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.37399959564209, 16.35700035095215, 16.37700080871582, 16.327999114990234, 15.871999740600586, 12.031999588012695, 13.87399959564209, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.37399959564209, 16.35700035095215, 16.37700080871582, 9.472000122070312, 9.472000122070312, 7.935999870300293, 7.715000152587891, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.41100025177002, 15.189000129699707, 16.277000427246094, 13.991999626159668, 9.472000122070312, 5.631999969482422, 7.714000225067139, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 12.378999710083008, 15.189000129699707, 16.277000427246094, 13.904000282287598, 9.472000122070312, 5.375999927520752, 7.7129998207092285, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.41100025177002, 6.574999809265137, 16.277000427246094, 13.991999626159668, 9.472000122070312, 5.119999885559082, 7.711999893188477, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 12.378999710083008, 10.199000358581543, 10.16100025177002, 14.071999549865723, 3.8399999141693115, 5.375999927520752, 7.710999965667725, 15.069999694824219, 16.344999313354492, 16.349000930786133, 15.03600025177002, 0.3529999852180481, 9.390999794006348, 9.602999687194824, 16.277000427246094, 1.0240000486373901, 15.616000175476074, 7.710000038146973, 16.381999969482422, 16.354999542236328, 14.102999687194824, 14.199000358581543, 0.3709999918937683, 10.927000045776367, 0.5189999938011169, 0.6690000295639038, 4.3520002365112305, 12.031999588012695, 7.019999980926514, 16.334999084472656, 16.33300018310547, 16.33300018310547, 12.920000076293945, 0.43799999356269836, 5.039000034332275, 0.7490000128746033, 5.97599983215332, 4.0960001945495605, 8.192000389099121, 13.083999633789062, 11.869999885559082, 16.325000762939453, 16.336999893188477, 14.52400016784668, 0.38100001215934753, 2.444999933242798, 8.48900032043457, 5.0320000648498535, 7.679999828338623, 10.751999855041504, 13.083000183105469, 13.432000160217285, 16.325000762939453, 16.32900047302246, 12.920000076293945, 8.37399959564209, 1.0770000219345093, 0.5630000233650208, 0.5699999928474426, 15.104000091552734, 8.704000473022461, 6.178999900817871, 16.325000762939453, 16.33300018310547, 16.336999893188477, 7.288000106811523, 0.3540000021457672, 9.647000312805176, 16.277000427246094, 9.984000205993652, 15.104000091552734, 14.592000007629395, 15.105999946594238, 15.99899959564209, 16.024999618530273, 16.023000717163086, 4.989999771118164, 0.3400000035762787, 7.598999977111816, 12.88700008392334, 2.0959999561309814, 9.472000122070312, 12.543999671936035, 8.215999603271484, 13.503000259399414, 16.315000534057617, 16.216999053955078, 9.918999671936035, 0.4399999976158142, 14.060999870300293, 15.111000061035156, 10.447999954223633, 1.0240000486373901, 13.312000274658203, 6.422999858856201, 2.239000082015991, 16.312999725341797, 16.31100082397461, 7.103000164031982, 8.375, 6.364999771118164, 13.871000289916992, 12.48799991607666, 14.592000007629395, 10.239999771118164, 6.422999858856201, 16.320999145507812, 16.315000534057617, 16.33300018310547, 16.381999969482422, 15.404999732971191, 15.189000129699707, 16.277000427246094, 13.991999626159668, 9.472000122070312, 2.303999900817871, 6.421000003814697, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.406000137329102, 6.574999809265137, 16.277000427246094, 15.187999725341797, 9.472000122070312, 2.0480000972747803, 10.003999710083008, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 14.380999565124512, 15.189000129699707, 16.277000427246094, 13.991999626159668, 9.472000122070312, 1.7920000553131104, 13.986000061035156, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.406000137329102, 15.189000129699707, 16.277000427246094, 13.991999626159668, 9.472000122070312, 1.5360000133514404]
intensities: [59953.0, 33091.0, 49327.0, 65031.0, 57488.0, 512.0, 38656.0, 55813.0, 59979.0, 62413.0, 62303.0, 62425.0, 24785.0, 63541.0, 65035.0, 63540.0, 768.0, 3328.0, 55812.0, 59085.0, 62347.0, 62303.0, 62343.0, 33206.0, 63525.0, 65031.0, 64522.0, 32768.0, 4608.0, 55811.0, 62411.0, 62389.0, 62389.0, 21375.0, 57455.0, 64997.0, 65013.0, 65011.0, 31744.0, 5632.0, 20271.0, 12927.0, 35711.0, 26621.0, 32632.0, 3584.0, 56041.0, 60013.0, 62921.0, 62867.0, 62889.0, 8297.0, 64805.0, 64963.0, 60404.0, 23296.0, 29696.0, 55883.0, 64949.0, 65534.0, 65534.0, 65534.0, 33149.0, 26031.0, 65429.0, 63144.0, 25856.0, 8192.0, 55883.0, 65534.0, 65534.0, 65534.0, 65534.0, 33185.0, 26031.0, 65429.0, 63144.0, 25856.0, 768.0, 60786.0, 65534.0, 65534.0, 65534.0, 65534.0, 33184.0, 26031.0, 65429.0, 63144.0, 25856.0, 28416.0, 55845.0, 65534.0, 65534.0, 65534.0, 65534.0, 33184.0, 26031.0, 65429.0, 64340.0, 25856.0, 14080.0, 55882.0, 65534.0, 65534.0, 65534.0, 65534.0, 33184.0, 26031.0, 65429.0, 63144.0, 25856.0, 44544.0, 46794.0, 65534.0, 65534.0, 65534.0, 65534.0, 8299.0, 65509.0, 65529.0, 65424.0, 32256.0, 16896.0, 46770.0, 65534.0, 65534.0, 65534.0, 65534.0, 41069.0, 65509.0, 65529.0, 65480.0, 32256.0, 16640.0, 45971.0, 65534.0, 65534.0, 65534.0, 65534.0, 8301.0, 65509.0, 65529.0, 65480.0, 32256.0, 16384.0, 45769.0, 65534.0, 65534.0, 65534.0, 65534.0, 10763.0, 65529.0, 65529.0, 65424.0, 32256.0, 57088.0, 46642.0, 65534.0, 65534.0, 65534.0, 65534.0, 8374.0, 65509.0, 65529.0, 65480.0, 32256.0, 56832.0, 55652.0, 65534.0, 65534.0, 65534.0, 65534.0, 33203.0, 55727.0, 65429.0, 63144.0, 25856.0, 11008.0, 57060.0, 65534.0, 65534.0, 65534.0, 65534.0, 33206.0, 55727.0, 65429.0, 63144.0, 25856.0, 5376.0, 28646.0, 65534.0, 65534.0, 65534.0, 65534.0, 33206.0, 55727.0, 65429.0, 63144.0, 25856.0, 10752.0, 57032.0, 65534.0, 65534.0, 65534.0, 65534.0, 33206.0, 55727.0, 65429.0, 63056.0, 25856.0, 35328.0, 31644.0, 65505.0, 65501.0, 65505.0, 48222.0, 33143.0, 29103.0, 52951.0, 29432.0, 41472.0, 31744.0, 56975.0, 57054.0, 65517.0, 65534.0, 61305.0, 33131.0, 55727.0, 50825.0, 45568.0, 45568.0, 19712.0, 57031.0, 63319.0, 65483.0, 65485.0, 29304.0, 41141.0, 34045.0, 49791.0, 2440.0, 33536.0, 50176.0, 45966.0, 47224.0, 65481.0, 65461.0, 61048.0, 33131.0, 9903.0, 57683.0, 49676.0, 19200.0, 25088.0, 46691.0, 65485.0, 65487.0, 65471.0, 47480.0, 33211.0, 3759.0, 57617.0, 4200.0, 33536.0, 17152.0, 46691.0, 65491.0, 65485.0, 65477.0, 61175.0, 8300.0, 33997.0, 49741.0, 4792.0, 6400.0, 18944.0, 45126.0, 65534.0, 65534.0, 65001.0, 38270.0, 51723.0, 62169.0, 62147.0, 51560.0, 37376.0, 19456.0, 24716.0, 12158.0, 65227.0, 65233.0, 65534.0, 33100.0, 8111.0, 63015.0, 45864.0, 14592.0, 44032.0, 27665.0, 65177.0, 65121.0, 65093.0, 1983.0, 33208.0, 41391.0, 31507.0, 63140.0, 3584.0, 42752.0, 46705.0, 65465.0, 65459.0, 65449.0, 65459.0, 33243.0, 11951.0, 63939.0, 58760.0, 25856.0, 65024.0, 56156.0, 65534.0, 65534.0, 65534.0, 65534.0, 33196.0, 55727.0, 65429.0, 63056.0, 25856.0, 9216.0, 55749.0, 65534.0, 65534.0, 65534.0, 65534.0, 33196.0, 26031.0, 65429.0, 63144.0, 25856.0, 39936.0, 56180.0, 65534.0, 65534.0, 65534.0, 65534.0, 33238.0, 64341.0, 65429.0, 63144.0, 25856.0, 58112.0, 46754.0, 65534.0, 65534.0, 65534.0, 65534.0, 33238.0]
---



So there seems to be data coming in.

But then here's my problem. In RVIZ the data looks like noise and it seems like the Laser is detecting itself. It shows a circular thing right in the middle although the unit is sitting on a shelf with rectangular walls around it.

Here is a screenshot of both my settings and the RVIZ point cloud.

http://oi58.tinypic.com/2rolv6f.jpg

Any ideas what could be the problem?

Thanks in advance!