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"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/