Solving init bug for some xv_11_lidar

[leidawt]

For some xv_11_lidar, they need to send "startlds$" first to start scaning, so we can add it into the xv11_laser.cpp as follows:

after line 40, add:
boost::asio::write(serial_, boost::asio::buffer("startlds$",10));

[BrooklynBoy21]

@leidawt Hello, have you solve the problem with lidar? I got similar situation, the driver cannot find start byte. Instead of sending the data, the lidar sends me that via serial port:

Loader V2.4.13386
CPU F2802x/c600
Serial AAA42310AA-0004052
LastCal [2010140203]
Runtime V2.4.13386
#Spin...press ESC 3 times to abort.OK
Piccolo Laser Distance Scanner
Copyright (c) 2009-2010 Neato Robotics, Inc.
All Rights Reserved

Maybe you now how to solve that, thank you in advance!

[leidawt]

@BrooklynBoy21 This modification solved my issue. My device does not output these information, it seems that there are many versions of xv_11, so you may need to check the protocol based on the manual form the seller.

[BrooklynBoy21]

@leidawt your command did not help me?? Do you have the link to that manual?

[leidawt]

@BrooklynBoy21 Sorry, that manual is sended to me with the xv_11 hardware, and I do not have the copy, it just told me to send "startlds$" first to start scaning and the serial baud rate is 115200.