I now got the code working for the Neato XV11 Lidar scanner, so I can add it to my TeddyRobot, and include it into the ROS NavStack.
Adding Lidar to TeddyRobot
Category Archives: SLAM
Experiments with SLAM and Octomaps
experimented with octomapping/slam on cubie
Playing with the Asus xTion Pro on Cubieboard
rosws1 on cubie / OpenNI testing with Asus xTion Pro / rgbdslam