Step #3: Setting Up the Neato
However, you most likely will get an error similar to
this: No such file or directory: ‘/dev/ttyUSB0.’
Look at the rear left side of the Neato device; you will
see the power input, as well as a small rubber flap next to
it (Figure 1). Use something flat to pry out the rubber
piece. Behind it, you will find a mini-B USB input. Plug your
computer in and turn on the robot.
This is easily fixed. Go to the neato_robot/neato_node/
launch folder and open bringup.launch into your favorite
Find the line <param name=”port” value=”/dev
/ttyUSB0” /> and edit it to look like this: <param
name=”port” value=”/dev/ttyACM0” /> (the change is
Open the terminal and enter lsusb; find the Neato
device (mine was ID 2108:780b).
Then, type in the following:
After this change, everything should launch with no
problem and you will hear the laser spin up. (Remember,
sometimes you need to launch multiple times for the Neato
to start up.)
To terminate the node, press Ctrl+C.
sudo modprobe usbserial vendor=0x2108
Note: You may get a couple warnings at launch
regarding queue_size. They are of no significant
importance and you should ignore them.
A /dev/tty device should now be connected.
However, you cannot access the device until you give it
read and write permissions.
This is done like so:
Step #5: Downloading and Using
the Keyboard Teleop Package
sudo chmod a+rw /dev/ttyUSB0
Go to cd then to the src folder located in your catkin
workspace (cd ~/catkin_ws/src).
(This and the previous command need to be run every
time you plug in the device.)
Download the package (you need svn; you can install
it by using sudo apt-get install subversion) svn co
Step #4: Starting the Neato Node
board/ (package developed by Graylin Trevor Jay).
Now use roslaunch neato_node bringup.launch
to launch the Neato node; you will hear the laser spin up,
and the device will begin to slightly “crawl” forward.
Now, run catkin_make inside of ~/catkin_ws.
After the process has finished, you can now launch the
Neato node (repeat step #4).
(Sometimes it takes two or more tries to start up the
When you hear the laser spin up, open a new terminal
tab (or a new window) and run the following:
44 SERVO 12.2014