Viewing Maps from the XV-11's Point of View

Warning: This feature seems to be missing in the current (v2.6) firmware.)

Even though we've got the ability to make our own maps using the XV-11's sensor and ROS, it's nice sometimes to be able to see them from the XV-11's point of view.

Due to the efforts of some of the guys at TrossenRobotics (thread link), the SetStreamFormat packet datastream has been partially decoded--at least to the point of being able to grab maps from a running XV-11

The source code is available on githhub here: XV-11 Stream Parser

After compilation, the code can be used to translate dumps of the XV-11 packet stream into nice 256x256 animated gifs, so you can see into the mind of the XV-11.

You can use the following command to test it out:

bin/parser -f example/Packet\ Mode\ Bathroom1\ 09-03-2011.txt

View the help (run with -h or no flags) for details on the available options.

Some examples below:


It can also show you the laser scans of the robot (though the position estimation of the robot is based on some hackish intersection code)