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xsens / xsens_mti_ros_node

ROS node driver for Xsens devices.
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Dev. Board(Mti-670): How to get linear_acceleration && angular_velocity in ROS driver #62

Closed diennv closed 3 years ago

diennv commented 3 years ago

Hi, I am using the "xsens_mti_driver" with Mti-670 dev board in ROS. I enabled the publish of acceleration and angular velocity information in config parameters file. However i received only orientation data like the below. How to change the config file to receive angular_velocity and acceleration ?

header: seq: 53265 stamp: secs: 1623904821 nsecs: 31401642 frame_id: "imu_link" orientation: x: -0.000409551139455 y: -0.00898516736925 z: -0.965376973152 w: 0.260703444481 orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0 y: 0.0 z: 0.0 angular_velocity_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] linear_acceleration: x: 0.0 y: 0.0 z: 0.0 linear_acceleration_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

-- -------------------------------The config file--------------------------------------

Message publishers

pub_imu: true pub_quaternion: true pub_mag: false pub_angular_velocity: true pub_acceleration: true pub_free_acceleration: false pub_dq: false pub_dv: false pub_sampletime: false pub_temperature: false pub_pressure: false pub_gnss: false pub_twist: false pub_transform: true pub_positionLLA: false pub_velocity: false

Sensor standard deviation [x,y,z] (optional)

This value is used to override the covariance matrix in sensor_msgs/Imu and

sensor_msgs/MagneticField messages.

linear_acceleration_stddev: [0, 0, 0] # [m/s^2] angular_velocity_stddev: [0, 0, 0] # [rad/s] orientation_stddev: [0, 0, 0] # [rad] magnetic_field_stddev: [0, 0, 0] # [Tesla]

Steven-GH commented 3 years ago

Hello @diennv,

I believe that you are using the ROS driver that is contained in the MT Software Suite, is that correct? In that case, as also mentioned on http://wiki.ros.org/xsens_mti_driver, you will need to configure your MTi to output the necessary data messages. The easiest way to do this is by using the Device Settings window in MT Manager, see below screenshot. Alternatively you can use and modify the C++ example codes "example_mti_receive_data" in the MT SDK folder of your MT Software Suite.

image

diennv commented 3 years ago

Hi Steven, Thank you for your quick reply. I will check and let you know the result.

Tks, Vào 05:04 PM, T.4, 14 Th7, 2021 StevenXsens @.***> đã viết:

Hello @diennv https://github.com/diennv,

I believe that you are using the ROS driver that is contained in the MT Software Suite, is that correct? In that case, as also mentioned on http://wiki.ros.org/xsens_mti_driver, you will need to configure your MTi to output the necessary data messages. The easiest way to do this is by using the Device Settings window in MT Manager, see below screenshot. Alternatively you can use and modify the C++ example codes "example_mti_receive_data" in the MT SDK folder of your MT Software Suite.

[image: image] https://user-images.githubusercontent.com/41789163/125586310-fd134020-7173-42bf-96ba-f9dd5c1a5759.png

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diennv commented 3 years ago

Hi Steven, I verified that your instruction was correct. Now, i can receive acceleration data & angular velocity.

Thank you so much,