n1kn4x / xv11_lidar_python

ROS2 driver in python for the prominent XV11 Lidar sensor firmware, which is common in chinese vacuum robots.

ROS 2 Driver for XV-11 Lidar

This is a reimplementation of existing XV-11 drivers (credit to this, firmware=2) in python for use in ROS 2, called xv11_lidar_python.

This driver works well for a broad range of vacuum robot lidars, which are cost efficiently available.

Usage

The common pinout of these chinese lidars are usually as follows:

It is confirmed to be for working for Xiaomi Lidars (S7, S70, S75) and probably many more. Let me know if it worked for your model, so the list can be updated!

Install

Place this repository in your colcon_ws workspace

cd ~/colcon_ws/src
git clone <this-repository>
cd ..
colcon build

Once it has been made and registered by sourcing it to your environment you may run it as follows:

The following ROS2 parameters are defaulted as below and can be set using parameters

port              /dev/ttyXV11
frame_id          xv11_lidar
range_min         0.06
range_max         13.0

Run the driver and it should generate scan data on topic /scan

ros2 run xv11_lidar_python xv11_lidar

Run the driver using a different port and frame_id

ros2 run xv11_lidar_python xv11_lidar --ros-args -p port:=/dev/ttyAMA0 -p frame_id:=xiaomi_lidar

If all goes well this will produce messages of type LaserScan on topic /scan.

❤️ Credits and many thanks to

https://wiki.recessim.com/view/Xiaomi_Roborock_LIDAR

https://wiki.recessim.com/view/Neato_XV-11#LIDAR_Sensor

https://github.com/mjstn/xv_11_driver

https://notblackmagic.com/bitsnpieces/lidar-modules/