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lse_imu_drivers: lse_xsens_mti

Package Summary

Documented

Xsens MTi node. The existing xsens_mti node is distributed in the form of a library and requires the MTi to be set to a determined configuration to work. We had some old code laying around so we just ported it to ROS. This sends the MTi to configuration mode at start and sets it to the propper mode of operation.

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Also check the xsens_mti package.

Supported Hardware

Xsens MTi

Xsens MTi-G

ROS API

mti_node

mti_node is a driver for the Xsens MTi/MTi-G Inertial Measurement Unit. It publishes orientation, angular velocity, linear velocity, linear acceleration, altitude, latitude and longitude (covariances are not yet supported), and complies with the IMU API and Sensor message for NavSat API and odometry API. Take a look at the unsupported C++ API for further features.

Published Topics

imu/data (sensor_msgs/Imu) fix (sensor_msgs/NavSatFix) odom (nav_msgs/Odometry)

Parameters

~baudrate (int, default: 115200) ~frame_id (string, default: /base_imu) ~temperature (bool, default: false) ~calibrated (bool, default: true) ~orientation (bool, default: true) ~auxiliary (bool, default: false) ~position (bool, default: false) ~velocity (bool, default: false) ~status (bool, default: false) ~rawGPS (bool, default: false) ~rawInertial (bool, default: false) ~timeStamp (bool, default: false) ~orientationMode (int, default: Quaternion (0)) ~enableAcceleration (bool, default: false) ~enableRateOfTurn (bool, default: false) ~enableMagnetometer (bool, default: false) ~velocityModeNED (bool, default: false) ~scenario (int, default: Automotive (2)) ~GPSLeverArm_X (double, default: 0) ~GPSLeverArm_Y (double, default: 0) ~GPSLeverArm_Z (double, default: 0)


2017-09-16 13:13