!!! WORK IN PROGRESS !!!
Any helpful pull requests are really appreciated!
This project contains a ROS2 driver for the Xsens MTw Awinda system sensors.
- Implement params.yaml for configurable parameters
- Remove debugging logs
- Update README
- Better Code (efficiency, follow coding conventions, etc.)
- Xsens MTw Awinda System
- The driver is developed upon the XDA 2022, with ROS2 on Ubuntu 22.04 LTS
- XDA 2022 =/= public XDA 2022 (the public XDA 2022 only supports MTi devices)
- ISO C++17 Standard corrections have been applied to the XDA 2022 files
- Instead of using the Xsens Quaternion, this driver uses the state-of-the-art quaternion filter VQF
Tested with Ubuntu 22.04 and ROS2 Humble.
- Data recording through button presses
- Data recording through ros2 services
- Orientation visualization in RViz for multiple IMUs at the same time
- (coming soon) Adjustable .yaml config
The driver upsamples the IMU data and publishes all sensor data into the /xsens_imu_data topic.
Custom messages IMUData.msg, IMUDataArray.msg and Quaternion.msg are used.
The params.yaml is currently not used, due to the problem listed below.
The imu_mapping.yaml is only used for a specific IMU setup. It will just move the orientations in a more "visually correct" position. Using xsens_mtw_visualization without any config, will just publish the TFs of all IMUs next to each other for visibility.
ros2 run xsens_mtw_driver_ros2 xsens_mtw_managerros2 run xsens_mtw_driver_ros2 xsens_mtw_visualizationros2 launch xsens_mtw_driver_ros2 xsens_mtw_visualization.launch.py(usesconfig/imu_mapping.yaml) [experimental]
/xsens_mtw_manager/status/xsens_mtw_manager/get_ready/xsens_mtw_manager/start_recording/xsens_mtw_manager/stop_recording
These services are using the std_srvs/srv/trigger.hpp.
The time in timestamp is tracked from the start of the node and will be reset to 0 when starting to record by default. This can be changed in the params.yaml in the future.
Currently the recording will only save the quaternions.
Currently the recorded data is saved in the same directy where the node is started.
| IMUs | desiredUpdateRate (max) |
|---|---|
| 1 - 5 | 120 Hz |
| 6 - 9 | 100 Hz |
| 10 | 80 Hz |
| 11 - 20 | 60 Hz |
| 21 - 32 | 40 Hz |
- Starting the
xsens_mtw_managernode through launch files will prevent keyinput readings fromconio.c, meaning theparams.yamlwould need to be loaded by a separate parameter server node.
Make sure you are in the correct group:
$ ls -l /dev/ttyUSB0
crw-rw---- 1 root dialout 188, 0 May 4 13:37 /dev/ttyUSB0
$ groups
"username" adm cdrom sudo dip plugdev lpadmin sambashare
Add yourself to the group:
$ sudo usermod -G dialout -a $USER
$ newgrp dialout
More troubleshooting on the xsens_mti_driver page
Make sure to add /opt/ros/\<ros2version\>/include/** to the includePath in your c_cpp_properties.json from your .vscode folder.