Yarp drivers for the Xsens MVN system.

Dependencies

• Xsens MVN SDK (4.2)
• YARP >= 2.3.68

Architecture

The driver is implemented with two devices (currently available only on Windows due to restrictions of the Xsens SDK):

• xsens_mvn: is the proper device. It is responsible to open the xsens xme.dll and connect to the suit. It implements a yarp::dev::IHumanSkeleton interface.
• xsens_mvn_wrapper: it opens an output streaming port and an rpc port for commands. Data are streamed periodically. Furthermore an additional driver is provided, which is the xsens_mvn_remote. This driver can be used on any YARP-supported platform and it is responsible of connecting to the xsens_mvn_wrapper via YARP ports and exposing a software interface to the yarp::dev::IHumanSkeleton YARP interface.

Development & License

When you develop on this project rememeber to check the following:

• the correct USB Dongle (the one with the DEV license) must be plugged into the computer

• at least xme.dll, xsensdeviceapi.dll and xmedef.xsb must be found by the executable.

  • regarding the last file, by default it must be in the working directory. It is possible to call in the code the function xmeSetPaths to set, respectively:

  the path to the xmedef.xsb file, also used for the .mvnc files, the path where props.xsb can be found, the path where you want the xme.log to be put and a Boolean value if you want to remove the old xme.log (if you specified a new path). Specifying empty strings will use the default path for those options.

Furthermore:

• connect the suit to the router
• connect the router to the pc (the router creates a subnet with the pc)

On Release, remember to connect to the computer the USB dongle with the Redistributable license on it.