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Xsens MTi-300

系统环境：

  • Ubuntu18.04.5 LTS aarch64
  • Kernel 4.9.140-tegra
  • ROS melodic 1.14.11

硬件：

  • Jetson Xaiver NX
  • Velodyne16

待解决问题：

  • -

官网介绍: https://www.xsens.com/mti-300

ROS wiki: http://wiki.ros.org/xsens_driver

上面ROS wiki来源: (看了下issues里面的问题也是有意思...) https://github.com/ethz-asl/ethzasl_xsens_driver

知乎: https://zhuanlan.zhihu.com/p/385671094

工具下载 MTw Awinda : https://www.xsens.com/software-downloads

ROS安装 (已过测试)

下载并解压 MT_SoftWare_Suit_For_Linux

进入目录执行sh

# file will be installed to /usr/local/xsens
sudo ./mtsdk_linux-x64_2019.1.1.sh 
sudo ldconfig /usr/local/xsens

问题: error 'uudecode' could not be found.

解决方案：

sudo apt-get install sharutils

创建ROS包 + 编译

mkdir -p ~/xsens_ws/src && cd ~/xsens_ws/src

cp -R /usr/local/xsens/xsens_ros_mti_driver ./

cd ..

pushd src/xsens_ros_mti_driver/lib/xspublic && make && popd

catkin_make

source devel/setup.bash

echo "source ~/xsens_ws/devel/setup.bash" >> ~/.bashrc

测试(可选) ls /dev/ttyUSB* 看设备号

sudo chmod 777 /dev/ttyUSB0

roslaunch xsens_mti_driver xsens_mti_node.launch

## rviz Fixed Frame: imu_link

改参数

cd ~/xsens_ws/src/xsens_ros_mti_driver/
vim param/xsens_mti_node.yaml

rostopic echo /imu/data IMG

工具包: MT_Software_Suite_4.6.0.exe IMG

来源：