Documentation Status

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receive_xsens

Package Summary

Documented

ROS driver for Xsens MTi-10 and MTi-100 series motion trackers

receive_xsens

Package Summary

Documented

ROS driver for Xsens MTi-10 and MTi-100 series motion trackers

Package Summary

Documented

ROS driver for Xsens MTi-10 and MTi-100 series motion trackers

Cannot load information on name: receive_xsens, distro: indigo, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

MotionTrackers.jpg

Overview

This is a ROS driver for the Xsens MTi-10 and MTi-100 series motion trackers. It is compatible with the 4th generation Xsens sensors which use MTdata2 type messages to communicate. The driver is tested with an MTi-30 AHRS. To use the driver, a license number is required for the MT Software Suite. Compatible sensors include:

  • MTi-10/100 IMU: Inertial Measurement Unit
  • MTi-20/200 VRU: Vertical Reference Unit
  • MTi-30/300 AHRS: Attitude and Heading Reference System
  • MTi-G-700 GPS/INS (The current program does not publish data from the GPS, minor code change is needed.)

Usage

Users need to install MT SDK for Linux, available from the Xsens website. A license number is required during installation. To change configuration of the sensor, users also need to install MT Software Suite on a Windows machine.

http://www.xsens.com/en/mt-software-suite

The driver program can be started by command line:

rosrun receive_xsens receive_xsens

Or with a ROS launch file (available in /launch folder):

roslaunch receive_xsens.launch

Published Topics

/imu/data (sensor_msgs/Imu)
  • integrated orientation, raw angular rate, and raw acceleration.

Wiki: receive_xsens (last edited 2014-03-04 14:52:33 by jizhang-cmu)