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xsens_driver package from xsens_driver repoxsens_driver |
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Package Summary
| Tags | No category tags. |
| Version | 2.2.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ethz-asl/ethzasl_xsens_driver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-04-27 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ROS Driver for XSens MT/MTi/MTi-G devices.
Additional Links
No additional links.
Maintainers
- Francis Colas
Authors
No additional authors.
Note: this driver is not maintained anymore. For ROS 2 support, see https://github.com/norlab-ulaval/norlab_xsens_driver
ROS Driver for XSens MT/MTi/MTi-G devices.
See: http://ros.org/wiki/ethzasl_xsens_driver
CHANGELOG
Changelog for package xsens_driver
2.2.2 (2018-08-02)
- fix exception while closing node
- Contributors: Francis Colas
2.2.1 (2018-08-02)
- fix frame reorientation (only for orientation and linear velocity)
- fix skip-factor command line (#80)
- Contributors: Francis Colas
2.2.0 (2018-07-16)
- initial_wait argument for MTDevice, node and launch file
- separate gps_msg from Position Data
- handle both alignment rotation versions
- fix GetAlignmentRotation
- new timeout command line argument
- catch timeout exception while writing messages
- Feat/configurable covariance diagonals (#65)
- catch timeout exception during inspect (#60)
- Fix conversion from UTC to epoch time for /time_reference (#56)
- fix bug in sample time fine
- add missing package dependency on python-serial (#54)
- support delta q (#49)
- Synchronization settings and UTC time extension (#46)
- full list of error codes and messages
- Contributors: Alex Naiman, Atsushi Watanabe, Di Zeng, Francis Colas, Rein Appeldoorn, juichung kuo
2.1.0 (2017-04-14)
- Add no_rotation_duration option
- Fix typo (#39)
- Fix gnss pvt parsing (#37)
- fix GetOptionFlags (#34)
- Contributors: Andersw88, Francis Colas
2.0.1 (2016-08-16)
- fix TimeReference member name
- Contributors: Francis Colas
2.0.0 (2016-08-02)
- support of mark iv devices (configuration and ROS node)
- remove gps_common dependency (for jade and kinetic)
- work in 16.04 with pyserial3
- proper message types for temperature, pressure, magnetic field and time
- better timeout management
- various bug fixes
- Contributors: CTU robot, Francis Colas, João Sousa, Konstantinos Chatzilygeroudis, Latitude OBC, Vincent Rousseau, fcolas, jotaemesousa
1.0.3 (2014-05-14)
- Inclusion of launch file
- Additions and fixes from PAL robotics
- Add local frame conversion for calibrated imu data (acc, gyr, mag)
- Contributors: Enrique Fernandez, Francis Colas, Paul Mathieu, Sam Pfeiffer
1.0.2 (2014-03-04)
- catkinized
- experimental support of mark 4 IMUs
- fixed scaling in DOP values
- adding publisher for full data as a string
- relative topic names
1.0.1 (2012-08-27)
- minor improvements
- naming cleanup
- Contributors: Benjamin Hitov, Francis Colas, Nikolaus Demmel, Stéphane Magnenat, fcolas
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| rospy | |
| std_msgs | |
| tf | |
| sensor_msgs | |
| geometry_msgs | |
| diagnostic_msgs |
System Dependencies
Dependant Packages
No known dependants.
Launch files
- launch/xsens_driver.launch
-
- device [default: auto] — device file of the IMU
- baudrate [default: 0] — baudrate of the IMU
- timeout [default: 0.002] — timeout for the IMU communication
- initial_wait [default: 0.1] — initial wait to allow device to come up
- frame_id [default: /imu] — frame id of the IMU
- frame_local [default: ENU] — desired frame orientation (ENU, NED or NWU)
- no_rotation_duration [default: 0] — duration (int in seconds) of the no-rotation calibration procedure
- angular_velocity_covariance_diagonal [default: [0.0004, 0.0004, 0.0004]] — Diagonal elements of angular velocity covariance matrix
- linear_acceleration_covariance_diagonal [default: [0.0004, 0.0004, 0.0004]] — Diagonal elements of linear acceleration covariance matrix
- orientation_covariance_diagonal [default: [0.01745, 0.01745, 0.15708]] — Diagonal elements of the orientation covariance matrix
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.