yarp-device-xsensmt

YARP Device Driver for XSens MT* devices based on the MT Software Suite.

Rationale

This repository contains the xsensmt YARP Device Driver (see YARP documentation on devices ) that expose any Xsens-based IMU that work with the Xsens MT Software Suite as a C++ class with the IGenericSensor interface. There is currently no precisly defined format to expose IMU devices in YARP (see https://github.com/robotology/yarp/issues/802), and so this devices tries to match as much as possible the behaviour of the xsensmtx device, contained in the icub-main repository.

Installation

Dependencies

• YARP

Step-by-step installation

• Install YARP on your platform, following the instructions on YARP documentation.
• Compile the code in this repository using CMake and your preferred compiler. See YARP documentation on how to compile a CMake project.
• Install the project. You can specify the installation directory prefix using the CMAKE_INSTALL_PREFIX CMake option.
• Add ${CMAKE_INSTALL_PREFIX}/share/yarp (where ${CMAKE_INSTALL_PREFIX} needs to be substituted to the directory that you choose as the CMAKE_INSTALL_PREFIX) to your YARP_DATA_DIRS enviromental variable (for more on the YARP_DATA_DIRS env variable, see YARP documentation on data directories ).
• Once you do that, you should be able to find the xsensmt device compiled by this repo using the command yarp plugin xsensmt, which should have an output similar to:

  Yes, this is a YARP plugin
  * library:        CMAKE_INSTALL_PREFIX/lib/yarp/xsensmt.so
  * system version: 5
  * class name:     yarp::dev::XsensMT
  * base class:     yarp::dev::DeviceDriver

  If this is not the case, there could be some problems in finding the plugin. In that case, just move yourself to the ${CMAKE_INSTALL_PREFIX}/share/yarp directory and launch the device from there.

Device use

Via multipleanalogsensorsserver

To launch the xsensmt device, you can connect the Xsens IMU (for example the MTI-300) to your Linux computer, create an xml file named xsens_imu.xml containing

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<robot name="realsense" build=0 portprefix="/xsens_imu">

  <device type="xsensmt" name="xsens_imu">
    <param name="xsensmt_period">0.01</param>
    <param name="xsensmt_euler_period">0.005</param>
    <param name="xsensmt_gyro_period">0.005</param>
    <param name="xsensmt_acc_period">0.005</param>
    <param name="xsensmt_mag_period">0.01</param>
  </device>

  <device type="multipleanalogsensorsserver" name="xsens_imu_wrapper">
    <param name="period">5</param>
    <param name="name">/xsens_imu</param>

    <action phase="startup" level="5" type="attach">
      <paramlist name="networks">
        <elem name="imu">xsens_imu</elem>
      </paramlist>
    </action>
    <action phase="shutdown" level="5" type="detach"/>
  </device>

</robot>

Run the yarpserver, then on a terminal launch the device: yarprobotinterface --config xsens_imu.xml

Via inertial network device (Deprecated)

To launch the xsensmt device, you can connect the Xsens IMU (for example the MTI-300) to your Linux computer and the default configuration parameters should be sufficient to work fine. To do so, launch the yarpserver, then on a terminal launch the device:

yarpdev --device inertial --subdevice xsensmt

This should open a YARP port /inertial , that you can read from the command line for example using the yarp read command:

yarp read ... /inertial

Parameters

The following table contains the parameters currently supported by the device