Introduction

This package provides a driver for the 3rd production of Xsens-MTi. Compared to the other MTi drivers (xsens_driver and lse_xsens_mti), this simple but stable package, based on hydro, focus only on the imu data instead of GPS data. If you have any problem using (xsens_driver and lse_xsens_mti), try this one.

Installation

Open a terminal:

        $ sudo cd ~/catkin_ws/src
        $ git clone https://github.com/JJJJJJJack/xsens_reader.git
        $ cd ..
        $ catkin_make
        $ catkin_make install

Run

Open a terminal:

         $ sudo su
         $ cd ~/catkin_ws
         $ source devel/setup.bash
         $ roscore

Open another terminal:

         $ sudo su
         $ cd ~/catkin_ws
         $ source devel
         $ rosrun xsens_reader xsens_reader -d /dev/ttyUSB0

Note

Only for hydro

Try USB1 USB2 if you can't connect to the port.

xsens_reader publishes the sensor_msgs::Imu message of "/xsens_data".

run

$ rostopic echo /xsens_data  

to show the message of MTi.

Published Topics

Published Topics

• orientation, angular velocity, and linear acceleration.