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Package Summary

ROS driver for Xsens MTI-G-700 series motion trackers - modified to publish GPS messages

Installation

Download the MT Software Suite and install it on a Windows machine (you may skip this step and use default sensor configuration), then download the MT SDK for Linux and install it on a Linux machine (this should be the machine that ROS is installed on). Here is the software website: http://www.xsens.com/en/mt-software-suite.

Follow the instructions in the MT SDK for Linux to install the software and make sure the examples run correctly with the sensor. You may need to install the kernel available at https://github.com/xsens/xsens_mt.

Verify if the usb device was recognized by using the following command (pay attention to the fact that the 0 in ttyUSB0 may be a different number in your setup):

 $ ls /dev/ttyUSB0

You may have to the current user to the dialout group, using

 $ sudo adduser this_user dialout

Now you can run the node using roslaunch

 $ roslaunch mtig_driver mtig_driver.launch

Configuration

A default launch file can be found in the mtig_driver package directory. The launchfile contains the following types of parameters.

Below is an example of an configuration file "all_zero.launch" where all the modules are used with the maximum frequency available.

<launch>
        <arg name="frame" default="xsens" />
        <node pkg="mtig_driver" type="mtig_driver_node" name="mtig_driver">
                <!-- Error parameters /-->
                <param name="roll_error" value="0.2" />
                <param name="pitch_error" value="0.2" />
                <param name="yaw_error" value="1.0" />
                <param name="acc_noise" value="0.00015" />
                <param name="gyr_noise" value="0.01" />

                <!-- Frame Parameter /-->
                <param name="frame_id" value="$(arg frame)" />

                <!-- Override Mode /-->
                <param name="override" value="true" />

                <!-- Module Setup Parameters /-->
                <param name="orientation_enabled" value="true"/>
                <param name="orientation_frequency" value="0"/>
                <param name="gps_enabled" value="true"/>
                <param name="gps_frequency" value="0"/>
                <param name="temperature_enabled" value="true"/>
                <param name="temperature_frequency" value="0"/>
                <param name="acceleration_enabled" value="true"/>
                <param name="acceleration_frequency" value="0"/>
                <param name="pressure_enabled" value="true"/>
                <param name="pressure_frequency" value="0"/>
                <param name="magnetic_enabled" value="true"/>
                <param name="magnetic_frequency" value="0"/>
                <param name="altitude_enabled" value="true"/>
                <param name="altitude_frequency" value="0"/>
                <param name="velocity_enabled" value="true"/>
                <param name="velocity_frequency" value="0"/>
                <param name="gyroscope_enabled" value="true"/>
                <param name="gyroscope_frequency" value="0"/>
        </node>
</launch>

Nodes

mtig_driver

This is a ROS driver for MTi-G-700 GPS/INS. It provides GPS fix reading capabilities, as well as IMU and other sensors. To use the driver, a license number is required for the MT Software Suite (a.k.a. the Xsens API). This driver also enables configuration, i.e., turn different sensors in the device on and off, via ROS node. It is also possible to adjust the settings using MT Manager in Windows, and using the driver in read-only mode.

Published Topics

/xsens/imu (sensor_msgs/Imu) /xsens/gps (sensor_msgs/NavSatFix) /xsens/velocity (geometry_msgs/TwistWithCovariance) /xsens/temperature (sensor_msgs/Temperature) /xsens/pressure (sensor_msgs/FluidPressure) /xsens/magnetic (sensor_msgs/MagneticField) /xsens/gps_extra (mtig_driver/GpsInfo)


2019-12-07 12:51