ROS2 Hardware Abstraction Layer (HAL) for Xsens XBus Master (XM-B-XB3).
The current state is viewed using a specific flash sequence of the LED:
- off for power down
- solid for configuration state
- two short flashes for measurement state waiting for trigger
- one flash for measurement state sending data
The current mode is visualized using a specific colour of LED:
- green for serial mode
- blue for Bluetooth mode
- purple for host not found
- yellow for low battery mode
- red for fault mode
The push button controls the power state of the Xbus Master:
- press once to switch the Xbus Master on
- press 3 consecutive times to switch it off
Pair the device, using 0000 as code if requested. On linux, use
sudo rfcomm bind xmaster <BT MAC Address>
to associate a tty (/dev/rfcomm0) to the device.
Do not connect to the device, just pair it. When the node starts and tries to open the tty, the connection will be established and kept open until shutdown of the node.