Legacy Mti-G does not publish UTC Time

[ozgunkaratas]

Hello, i am using a Legacy Mti-G device on Ubuntu 18.04 with Melodic and i was able to use the legacy configurations to get the information but when i include the UTC Time within the output settings i get a parsing error. The console output is as follows:

ozgunkaratas@ozgunkaratas-1804:~$ roslaunch xsens_driver xsens_driver.launch ... logging to /home/ozgunkaratas/.ros/log/d2f883be-2e81-11eb-921e-b0fc36b70e8b/roslaunch-ozgunkaratas-1804-9645.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://ozgunkaratas-1804:39703/

SUMMARY

========

PARAMETERS

• /rosdistro: melodic
• /rosversion: 1.14.10
• /xsens_driver/angular_velocity_covariance_diagonal: [0.0004, 0.0004, ...
• /xsens_driver/baudrate: 0
• /xsens_driver/device: auto
• /xsens_driver/frame_id: /imu
• /xsens_driver/frame_local: ENU
• /xsens_driver/initial_wait: 0.1
• /xsens_driver/linear_acceleration_covariance_diagonal: [0.0004, 0.0004, ...
• /xsens_driver/no_rotation_duration: 0
• /xsens_driver/orientation_covariance_diagonal: [0.01745, 0.01745...
• /xsens_driver/timeout: 0.002 NODES / xsens_driver (xsens_driver/mtnode.py) ROS_MASTER_URI=http://localhost:11311 process[xsens_driver-1]: started with pid [9660] [INFO] [1606245725.124993]: Found parameter: ~device, value: auto [INFO] [1606245725.127938]: Found parameter: ~baudrate, value: 0 [INFO] [1606245725.130486]: Found parameter: ~timeout, value: 0.002 [INFO] [1606245725.133216]: Found parameter: ~initial_wait, value: 0.1 [INFO] [1606245725.329703]: Detected MT device on port /dev/ttyUSB0 @ 115200 bps [INFO] [1606245725.331874]: MT node interface: /dev/ttyUSB0 at 115200 bd. [INFO] [1606245725.506297]: Found parameter: ~no_rotation_duration, value: 0 [INFO] [1606245725.509225]: Found parameter: ~frame_id, value: /imu [INFO] [1606245725.512022]: Found parameter: ~frame_local, value: ENU [INFO] [1606245725.514789]: Found parameter: ~angular_velocity_covariance_diagonal, value: [0.0004, 0.0004, 0.0004] [INFO] [1606245725.517435]: Found parameter: ~linear_acceleration_covariance_diagonal, value: [0.0004, 0.0004, 0.0004] [INFO] [1606245725.520709]: Found parameter: ~orientation_covariance_diagonal, value: [0.01745, 0.01745, 0.15708] Traceback (most recent call last): File "/home/ozgunkaratas/catkin_ws/src/ethzasl_xsens_driver-master/nodes/mtnode.py", line 803, in main() File "/home/ozgunkaratas/catkin_ws/src/ethzasl_xsens_driver-master/nodes/mtnode.py", line 799, in main driver.spin() File "/home/ozgunkaratas/catkin_ws/src/ethzasl_xsens_driver-master/nodes/mtnode.py", line 168, in spin self.spin_once() File "/home/ozgunkaratas/catkin_ws/src/ethzasl_xsens_driver-master/nodes/mtnode.py", line 710, in spin_once data = self.mt.read_measurement() File "/home/ozgunkaratas/catkin_ws/src/ethzasl_xsens_driver-master/nodes/mtdevice.py", line 698, in read_measurement return self.parse_MTData(data, mode, settings) File "/home/ozgunkaratas/catkin_ws/src/ethzasl_xsens_driver-master/nodes/mtdevice.py", line 1155, in parse_MTData raise MTException("could not parse MTData message.") mtdef.MTException: could not parse MTData message. [xsens_driver-1] process has died [pid 9660, exit code 1, cmd /home/ozgunkaratas/catkin_ws/src/ethzasl_xsens_driver-master/nodes/mtnode.py __name:=xsens_driver __log:=/home/ozgunkaratas/.ros/log/d2f883be-2e81-11eb-921e-b0fc36b70e8b/xsens_driver-1.log]. log file: /home/ozgunkaratas/.ros/log/d2f883be-2e81-11eb-921e-b0fc36b70e8b/xsens_driver-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

I would appreciate any help and suggestions regarding this matter!

thank you,

Özgün

[ozgunkaratas]

Hey everybody, i want to close this issue since i found the solution, it lies on line 1150 of the script mtdevice.py where one 'b' is missing which should correspond to the number of values that the struct requires.