This is a port of the popular ROS driver called xv_11_laser_driver

This is a port so most credit goes to original developers. Please see ROS version here: https://github.com/rohbotics/xv_11_laser_driver

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/tty_xv11_driver
baud_rate         115200
frame_id          neato_laser
firmware_version  2

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

ros2 run xv_11_driver xv_11_driver

Run the driver using a different frame_id

ros2 run xv_11_driver xv_11_driver --ros-args -p frame_id:=xv11_scan

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