硬件设置
Xsens IMU 使用
参考:https://www.freesion.com/article/31151176449/#xsensdriverimu_1
使用XSENS-DRIVER读取IMU数据
- 驱动安装
sudo apt-get install ros-melodic-xsens-driver
- 修改访问MTI设备的权限,ttyUSB0换成你的设备号
sudo chmod 777 /dev/ttyUSB0
- 启动MTI
roslaunch xsens_driver xsens_driver.launch
这个xsens_driver 打印的topic list 如下:
XSENS_ROS_MTI_DRIVER使用
编译xsens_ros_mti_driver ROS版本:
cp /usr/local/xsens/xsens_ros_mti_driver ~/catkin_ws/src/ pushd ~/catkin_ws/src/xsens_ros_mti_driver/lib/xspublic && make && popd cd ~/catkin_ws catkin_make source devel/setup.bash #以下用其一: roslaunch xsens_mti_driver display.launch roslaunch xsens_mti_driver example.launch
xsens_mti_driver node发布的topic list
display.launch打开的rviz界面:
Xsens传感器使用笔记
https://blog.csdn.net/weixin_44423355/article/details/105869072