├── frames.pdf
├── README.md
├── neato.launch
└── mapping_default.launch


/frames.pdf:
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https://raw.githubusercontent.com/JanezCim/Neato-XV-11-Hector-SLAM/HEAD/frames.pdf


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/README.md:
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1 | # Neato-XV-11-Hector-SLAM
2 | 
3 | To setup Neato xv-11 LIDAR with Hector-SLAM follow this link:
4 | 
5 | http://meetjanez.splet.arnes.si/2015/08/22/neato-xv-11-to-ros-slam/
6 | 


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/neato.launch:
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 1 | <?xml version="1.0"?>
 2 | 
 3 | <launch>
 4 | 
 5 |   <!--<node pkg="xv_11_laser_driver" type="neato_laser_publisher" name="xv_11_node">
 6 |     <param name="port" value="/dev/ttyUSB0"/>
 7 |     <param name="firmware_version" value="2"/>
 8 |     <param name="frame_id" value="laser"/>
 9 |   </node>-->
10 | 
11 |  
12 |   <node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_link 10"/>
13 | 
14 |   <node pkg="tf" type="static_transform_publisher" name="base_frame_laser" args="0 0 0 0 0 0 /base_link /laser 10"/>
15 | 
16 | 
17 |   <!--<node pkg="rviz" type="rviz" name="rviz" 
18 |     args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>-->
19 | 
20 |   <include file="$(find hector_mapping)/launch/mapping_default.launch"/> 
21 | 
22 |   <node pkg="rviz" type="rviz" name="rviz" args="-d rviz_cfg.rviz"/>
23 |   <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
24 | </launch>
25 | 


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/mapping_default.launch:
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 1 | <?xml version="1.0"?>
 2 | 
 3 | <launch>
 4 |   <arg name="tf_map_scanmatch_transform_frame_name" default="/scanmatcher_frame"/>
 5 |   <arg name="base_frame" default="base_link"/>
 6 |   <arg name="odom_frame" default="base_link"/>
 7 |   <arg name="pub_map_odom_transform" default="true"/>
 8 |   <arg name="scan_subscriber_queue_size" default="5"/>
 9 |   <arg name="scan_topic" default="scan"/>
10 |   <arg name="map_size" default="2048"/>
11 |   
12 |   <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
13 |     
14 |     <!-- Frame names -->
15 |     <param name="map_frame" value="map" />
16 |     <param name="base_frame" value="$(arg base_frame)" />
17 |     <param name="odom_frame" value="$(arg base_frame)" />
18 |     
19 |     <!-- Tf use -->
20 |     <param name="use_tf_scan_transformation" value="true"/>
21 |     <param name="use_tf_pose_start_estimate" value="false"/>
22 |     <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
23 |     
24 |     <!-- Map size / start point -->
25 |     <param name="map_resolution" value="0.050"/>
26 |     <param name="map_size" value="$(arg map_size)"/>
27 |     <param name="map_start_x" value="0.5"/>
28 |     <param name="map_start_y" value="0.5" />
29 |     <param name="map_multi_res_levels" value="2" />
30 |     
31 |     <!-- Map update parameters -->
32 |     <param name="update_factor_free" value="0.4"/>
33 |     <param name="update_factor_occupied" value="0.7" />    
34 |     <param name="map_update_distance_thresh" value="0.2"/>
35 |     <param name="map_update_angle_thresh" value="0.9" />
36 |     <param name="laser_z_min_value" value = "-1.0" />
37 |     <param name="laser_z_max_value" value = "1.0" />
38 |     
39 |     <!-- Advertising config --> 
40 |     <param name="advertise_map_service" value="true"/>
41 |     
42 |     <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
43 |     <param name="scan_topic" value="$(arg scan_topic)"/>
44 |     
45 |     <!-- Debug parameters -->
46 |     <!--
47 |       <param name="output_timing" value="false"/>
48 |       <param name="pub_drawings" value="true"/>
49 |       <param name="pub_debug_output" value="true"/>
50 |     -->
51 |     <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
52 |   </node>
53 |     
54 |   <!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
55 | </launch>
56 |   
57 |   
58 | 


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