Author: Robert Ying

This program is designed to parse the output from SetStreamFormat packet. Prompted by Chunk's tantalizing images of XV-11 maps, I decided it would be interesting to be able to see them form... in an animation!

This program will interpret the binary-encoded packet format of the Neato XV-11 (started by SetStreamFormat packet), and output useful human-readable information. It can currently parse three types of packets:

• packet 0x05: Laser data packet, prints distances of relevant sector to stdout
• packet 0x09: Map image packet, outputs to nice animated gif when complete
• packet 0x11: Text data packet, prints message to stdout

Clone the repository, run make. When complete, there should be a program "parser" in the bin directory, it has arguments as follows:

parser [-c] -f dumpfile [-g gifname]
parser [-c] -p serialport [-g gifname]

Where the serial dump is a binary dump of the output over serial, and the desired gif location is where you would like the gif of the map images to be placed.

Serial ports are not currently supported, but they're a goal of this project nevertheless.

Magick++

Install on Ubuntu with

sudo apt-get install libmagick++-dev libmagick++4

OpenCV

This code has been tested with the OpenCV libraries available in the ROS Fuerte repository; however, any fairly recent version of OpenCV ought to work (ie version 2.0+)

Hash79, Chunk, DaveC, Xevel, and all the other people on TrossenRobotics who've spent time working on XV-11 hacks