A driver that includes a urdf a driver node for the Neato robot vacuum, and the accompanying launch files for the driver and navigation.
The driver node uses the GitHub - brannonvann/neato-driver-python: A python Driver for Neato brand vacuum robots. for basic access to the neato and the ROS 2 driver has a subscribtion to /cmd_vel and publishes odometry on /odom it publishes LaserScan on /scan and live wheel joint info on /joint_states and broadcasts odom->base_link
neatonav2 package: GitHub - bribribriambriguy/neatonav2: A driver for the neato robot vacuum (Tested on ROS2 foxy)