Section: New Software and Platforms

xsensdriver

xsens_driver

Functional Description

This is 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.

These MT* devices can store their configuration and will retrieve it at each boot and then stream data according to this configuration. The node only forwards the data streamed onto ROS topics. In order to configure a device, one can use the mtdevice.py script (or the vendor tool on Windows).

• Contact: Francis Colas

• URL: https://github.com/ethz-asl/ethzasl_xsens_driver