Regilo

A simple C++ library for controlling the Neato XV robot and the Hokuyo scanner.

regilo allows you to communicate with the Neato robot or the Hokuyo scanner through a serial port or sockets. You can use some implemented methods like setTestMode(), setMotor() (for Neato XV), getVersion() (for Hokuyo), getScan() (for both), or run any other command with the sendCommand() method.

Download

In the supported operating systems (currently Arch Linux, Debian, Ubuntu, and Fedora), you can install the appropriate package. Otherwise, you can download the source code, build regilo according to the build instructions below, and install it.

Usage

Neato XV

// Create the controller
regilo::NeatoSocketController controller;

// Connect it
controller.connect("10.0.0.1:12345");

// Set the test mode and LDS rotation
controller.setTestMode(true);
controller.setLdsRotation(true);

// Grab a scan from the robot
regilo::ScanData data = controller.getScan();

// Unset the test mode and LDS rotation
controller.setLdsRotation(false);
controller.setTestMode(false);

Hokuyo

// Create the controller
regilo::HokuyoSerialController controller;

// Connect it
controller.connect("/dev/ttyACM0");

// Grab a scan from the scanner
regilo::ScanData data = controller.getScan();

Dependencies

The library uses

• Boost.Asio library (version 1.54 or newer),
• Boost String Algorithms Library (version 1.54 or newer).

The regilo-visual example also needs

• wxWidgets library (version 3.0 or newer).

Build

Make sure you have installed all necessary dependencies before building.

$ mkdir build && cd build
$ cmake ..
$ make

Use one of the following options if you want to build the examples as well

• $ cmake -Dexample:bool=on .. for the console example (regilo-scan),
• $ cmake -Dexample-gui:bool=on .. for the GUI example (regilo-visual),
• $ cmake -Dexamples:bool=on .. for all examples.

For a faster build on a multicore processor, you can use:

$ make -j $(nproc)

Installation

To install the regilo library (and its examples), simply run as root:

# make install

To uninstall:

# make uninstall

Packages

There are three packages you can install. The package names adhere to the conventions of the operating systems.

Operating system	Package name	Package content
Arch Linux	regilo-lib	only runtime library
	regilo	library, headers, regilo-scan
Debian / Ubuntu	libregilo	only runtime library
	libregilo-dev	library, headers, regilo-scan
Fedora	regilo	only runtime library
	regilo-devel	library, headers, regilo-scan
All	regilo-visual	library, regilo-visual

Arch Linux

You can install regilo, regilo-lib, and regilo-visual in Arch Linux from the AUR.

Do not forget to add my PGP key (fingerprint D258 09BF 3563 AA56 A12B 0F4D 545E DD46 FBAC 61E6).

$ gpg --recv-key D25809BF3563AA56A12B0F4D545EDD46FBAC61E6

Ubuntu

In Ubuntu, you can use my ppa:branoholy/regilo and install the libregilo, libregilo-dev, and regilo-visual packages.

$ sudo add-apt-repository ppa:branoholy/regilo
$ sudo apt-get update
$ sudo apt-get install libregilo-dev

Debian

openSUSE Build Service can be used in Debian 8. You need to add my key and repository, and then you can install the libregilo, libregilo-dev, and regilo-visual packages.

$ sudo sh -c "wget http://download.opensuse.org/repositories/home:/branoholy:/regilo/Debian_8.0/Release.key -O - | apt-key add -"
$ sudo sh -c "echo 'deb http://download.opensuse.org/repositories/home:/branoholy:/regilo/Debian_8.0/ ./' >> /etc/apt/sources.list"
$ sudo apt-get update
$ sudo apt-get install libregilo-dev

Fedora

openSUSE Build Service can be used in Fedora 23 as well. You need to add my repository and then you can install the regilo, regilo-devel, and regilo-visual packages.

$ sudo dnf config-manager --add-repo http://download.opensuse.org/repositories/home:/branoholy:/regilo/Fedora_23/home:branoholy:regilo.repo
$ sudo dnf install regilo-devel

Examples

See examples for more information about using of this library.

regilo-scan is a simple example that connects to the Neato or Hokuyo, performs one scan, and prints it.

regilo-visual is more complex and requires the wxWidgets library. It can be used to drive with the Neato, scan automatically or manually, and log the output. Same scanning functionality can be done with the Hokuyo as well.

License

Regilo is licensed under GNU GPL v3 (see the LICENSE file).