On this page, you can find all the software downloads needed to run the Xsens hardware on your system. This package provides a driver for the third and fourth generation of Xsens IMU devices. The driver is in two parts, a small implementation of most of the MT protocol in Python and a ROS node. It works both on serial and USB interfaces. I am working with an MT development kit on ubuntu 14.04, I'm trying to use the xsens driver for ROS indigo but when I do. Rosrun xsensdriver mtdevice.py -configure -output-mode=coapvs -output-settings=tqMAG i'm getting this error. Driver for xsens IMUs. Contribute to ethz-asl/ethzaslxsensdriver development by creating an account on GitHub. Find instrument drivers that are available for this instrument for use in LabVIEW, LabWindows/CVI, or Measurement Studio. Example programs are included with most instrument driver downloads.
- Note
- SW Release Applicability: This sample is available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.
The IMU Logger sample works with any serial port (UART) based IMU sensor or with the Xsens IMU device connected over USB. The logger requires the IMU sensor connected over serial port to deliver messages in NMEA format, while the Xsens device can run in proprietary mode.
Drivers Extension
Interfacing with sensors
Serial
Consumer grade off-the-shelve IMU sensors are usually connected over USB and implement a serial-to-USB connection with the help of FTDI devices. The Xsens IMU device can be connected through a serial-to-USB connection.
On Linux, these sensors can then be reached over the /dev/ttyUSB or /dev/ttyACM devices. Before trying out the sample, ensure the user has access to the serial device. You can do so by trying to read from the device e.g. with cat /dev/ttyACMx, and if permission is denied, add the current user to the dialout group and then log out/in again:
Driver Sensor Systems
On QNX, prior to accessing the device, launch the dev-serusb driver as follows:
The serial devices can the be reached over the /dev/serusb devices.
Xsens USB
The Xsens IMU device can also be connected directly over USB, but is only supported on Linux.
The sample requires the driver and name of the device of the IMU sensor.
The IMU Logger sample, sample_imu_logger, accepts the following parameters:
Where:
- Note
- For a full list of key/value pairs that can be passed to –params see Sensor Enumeration Sample.
Examples
NMEA format
For serial devices transmitting messages in NMEA format, use the imu.uart driver. For example:
Per default, if no baud parameter has been provided imu.uart driver assumes a baudrate of 9600. In order to change the baudrate provide baud argument as:
On QNX, the baudrate is set when starting devc-serusb. The baud parameter will be ignored.
Xsens proprietary format
The sample supports reading IMU packets from a Xsens device through the imu.xsens driver. To run the sample using Xsens over USB device use:
Where device=0 parameter sets the index of the Xsens device (usually 0 if only one device is installed) and frequency=100 sets the frequency in [Hz] this device should operate with.
To run the sample using Xsens over serial use:
Please note that even if the Xsens device is a shared device, like Xsens MTi-G-700, capable of delivering GPS and IMU packets, only the IMU packets will be parsed by the imu.xsens driver.
- Note
- If the device is connected to Xavier UART you need also specify –stop-bits=1
For every valid IMU message that the sample receives, it prints to the console data such as:
Driver Sense
Where the first number indicates the timestamp of the received IMU message in microseconds and the rest of the line indicates the IMU information of the sensor.
Drivers Sennheiser Headphones
For more details see IMU.