You should now have a /dev/ttyUSBX like device
connected. (X is a number indicating the device, i.e., 0.)
roslaunch neato_node bringup.launch
If all is successful, this will start the node; you will hear
the LIDAR spin up, and at the end of the terminal's text you
will see a similar inscription:
[INFO] [Wall Time: 1358295910.147500]
Using port: /dev/ttyUSB0
Troubleshoot: If you get a long red error script, it
might say something like this at the end:
/dev/ttyUSB0 [No such file or directory]
Try reconnecting and repeating Step 3. If that does not
fix the problem, try this:
cd to ~/ros_workspace/neato_robot/neato_node/nodes,
and open neato.py using gedit (or any other text editor; for
instance, vi or vim).
Go down into the class NeatoNode where there should
be a line which starts with self.port; change: /dev/ttyUSB0
If that doesn't do the trick, try rebooting. After you
have done so, repeat Step 3.
ROS Electric installation
56 SERVO 03.2013
Note: You can find the SVN
directory used in this article
by clicking the albany-ros-pkg link and then
ROS page for neato_robot:
Note: For some reason,
someone has removed the
SVN directory from this
Homebrew Robotics Club
of Silicon Valley
Step 4: Reading sensor values.
Download the neato.py file from the article link, then
go to ~/ros_workspace/neato_robot/nodes/ and replace
the neato.py file with the one you downloaded.
After starting the node and running the rostopic list,
you should now see a list of topics similar to this:
If you run rostopic echo drop_l, you should get a series
of values (in meters) showing the distance that is read off
the [robot's] left bottom IR sensor, similar to this:
It would be the same for the /drop_r and /wall topics.
Step 5: Turning it into a TABLEBot.
For years, the HomeBrew Robotics Club of Silicon
Valley, CA has hosted an event called the TABLEBot
Challenge. A TABLEBot is a robot designed to survive, live,
and play on a table. This challenge is meant to resemble
tabletop soccer but is done in "Phases" for accessibility:
Phase I: Build a robot that goes from one end of a
table to the other and back.
Phase II: Have the robot push a block off the edge of
Phase III: Have the robot push the block into a
shoebox mounted at the end of the table.
We will make the Neato do the second phase, in which
it should find a block on a table and push it off the edge
without falling off with it.