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Xsens MTw driver for ROS-Kinetic

This project contains a driver on which the Xsens MTw sensors send the data in topics published through a node managing the connection with the Awinda base (USB port). Development based on Xsens MTw SDK 4.6.

Hardware

  • The Xsens Hardware is an MTw Development Kit acquired between 2014-2016

Software

  • The driver is developed upon the Xsens SDK 4.6, with ROS Kinetic on Ubuntu 16.04 LTS

Usage

  • All dependencies (libraries, headers and sources files) are in this folder structure. The CMakeList.txt file is ready to use, contemplating the mininum XSens SDK required. Clone this repository into your catkin_ws/src and do catkin_make.

  • Connect the Awinda Station USB in your computer and run the MTw Driver node: $ rosrun xsens_mtw_drive mt_w_manager

  • Undock the MTW sensor and wait until the wireless connection being established:

[ INFO] [1565393292.619168658]: Waiting for MTW to wirelessly connect...
[ INFO] [1565393436.611962400]: EVENT: MTW Connected -> 00342322
[ INFO] [1565393436.615162761]: Number of connected MTWs: 1. Press 'y' to start measurement or 'q' to end node.
  • Each MTw sensor will connect at once. Remember, as described on the Xsens MTw User Manual:
MTw desiredUpdateRate (max)
1 150 Hz
2 120 Hz
4 100 Hz
6 75 Hz
12 50 Hz
18 40 Hz

Troubleshooting

If happen some problem with device access, follow the recommendations on the xsens_mti_driver page:

  • Make sure you are in the correct group:
$ ls -l /dev/ttyUSB0

crw-rw---- 1 root dialout 188, 0 May  6 16:21 /dev/ttyUSB0

$ groups

"username" adm cdrom sudo dip plugdev lpadmin sambashare
  • Add yourself to the group:
$ sudo usermod -G dialout -a $USER
$ newgrp dialout

License

  • BSD license

Contribute

I would like to enhance the driver performance for control porpuse (reduced latency, minimise reading errors ...). If you could contribute, keep in mind these goals:

  • Update messages type to sensor_msgs::Imu from now on;
  • Study the mastercallback, mtwcallback and the in-build ROS callbacks. Maybe using the own ROS callbacks we got some advantage;
  • Calibrate the sensors through in-build SDK methods or through statistical data analyzed from an rosbag;
  • Use ROS threaded spinning (or something to guarantee parallel readings from multiple MTw);