XsensReader

Read Xsens, parse and publish to ROS

Environment

• ROS1
• Python3

Use without ROS

Requirement

python3 -m pip install -r requirements.txt

Run Example

Modify ReadIMU.py

Connect Xsens with xsens.ConnectWithSerialNumber("SERIAL_NUMBER") with device SERIAL_NUMBER
or
Connect Xsens with xsens.ConnectWithDeviceName("SERIAL_PORT") with device port number

Run python script

python3 ReadIMU.py

Get all available Xsens device port and serial number

python3 GetAvailableImu.py 

Use with ROS

Requirement

python3 -m pip install -r requirements_ros.txt

Run node

After catkin_make and source setup.bash:

Run with known Serial Number:

DB5SGYLL in this example

rosrun xsens_sdk ReadIMU_ros.py _serial_number:=DB5SGYLL

Run with known Serial Port:

DB5SGYLL in this example

rosrun xsens_sdk ReadIMU_ros.py _serial_port:="/dev/ttyUSB0"

If both _serial_port and _serial_number are given, _serial_port option will be ignored.

Get all available Xsens device port and serial number

rosrun xsens_sdk GetAvailableImu.py 

Publish Topic

• geometry_msgs/QuaternionStamped