"roomba_lidar" is Open Hardware Lidar node for ROS.

Important notice - you need to specify "a_coef" and "b_coef" in *.launch file. This parameters calculated during lidar calibration.
Also you need to specify "port" parameter.

This code is partially taken from this project: http://wiki.ros.org/xv_11_laser_driver/