And they are different. XV series turret has mechanical data and power connection between spinning turret head and base using sliding contacts. This is major point of failure of XV series turrets. And Botvac turret has optical data connection to the base and wireless power, so no contacts would fail. Well how do we replace the Botvac turret using XV series turret if they are not compatible?
Let's take them apart and compare. I removed housing from both units.
They may have different firmware version though. I actually forgot to check that. Because when I soldered Lidar PCB from XV to the base PCB from Botvac and run tests, it just works. Here what the output looks like with working Lidar turret. No 8055 error codes. There was several 8035 errors, but it is because turret head cap has "legs" which cause Lidar to think that something is too close. But robot "knows" about turret cap and ignores that errors.
getldsscan AngleInDegrees,DistInMM,Intensity,ErrorCodeHEX 0,664,229,0 1,662,266,0 2,670,222,0 3,682,249,0 4,687,306,0 5,684,281,0 ... 352,676,464,0 353,678,472,0 354,681,477,0 355,684,440,0 356,688,437,0 357,692,422,0 358,696,422,0 359,700,386,0 ROTATION_SPEED,5.12
And this is how bright laser diode should look like through IR webcam.
Botvac is fixed and works pretty fine since then.