kinetic下使用MTI-G-710

旧城等待， 2023-05-31 02:49 13阅读 0赞

1.传感器型号如下：

![20191022110743919.png][]

刚开始我以为和Kinect一样需要单独供电，后来发现电源和数据连接都在9针引脚上连接；SMA连接器用于连接天线.

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9taWRpNjY2LmJsb2cuY3Nkbi5uZXQ_size_16_color_FFFFFF_t_70][]

2.驱动的GitHub：[https://github.com/ethz-asl/ethzasl\_xsens\_driver][https_github.com_ethz-asl_ethzasl_xsens_driver]

相关WIKI：[http://wiki.ros.org/xsens\_mti\_driver][http_wiki.ros.org_xsens_mti_driver]

[https://wiki.ros.org/xsens\_driver][https_wiki.ros.org_xsens_driver]

3.安装驱动：

sudo apt-get install ros-kinetic-xsens-driver

roscore

rosstack profile

rospack profile

这里就算安装好了，下面测试一下：

ls -l /dev/ttyUSB*

我的显示是USB0

sudo chmod 777 /dev/ttyUSB*

同上，是几就是几

roslaunch xsens_driver xsens_driver.launch

rostopic list

显示的消息格式为：

rostopic type /imu/data | rosmsg show

显示的原始消息为：

rostopic echo /imu/data

\-------------------------------下面这个控制小乌龟移动没做出来-------------------------------------------------

4. 编程实现Xsens控制Turtle移动，可以用Roboware Studio这个软件，会自己添加CMakeLists。

创建包(添加依赖roscpp sensor\_msgs std\_msgs tf geometry\_msgs)

catkin_create_pkg IMU_Turtle_Test std_msgs rospy roscpp tf geometry_msgs sensor_msgs

在此包下的src文件夹下创建IMU\_Turtle\_Test.cpp

#include <ros/ros.h>
    #include <geometry_msgs/Twist.h>
    #include <sensor_msgs/Imu.h>
    #include <iostream>
    #include <tf/LinearMath/Matrix3x3.h>
    #include <tf/LinearMath/Quaternion.h>
     
    using namespace std;
     
    class Imu_Test
    {
        public:
        Imu_Test();
        private:
        void CallBack(const sensor_msgs::Imu::ConstPtr& imu);
        ros::NodeHandle n;
        ros::Publisher pub;
        ros::Subscriber sub;
    };
         
    Imu_Test::Imu_Test()
    {
        pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1);
        sub = n.subscribe<sensor_msgs::Imu>("imu/data", 10, &Imu_Test::CallBack, this);
    }     
     
    void Imu_Test::CallBack(const sensor_msgs::Imu::ConstPtr& imu)
    {
        geometry_msgs::Twist vel;
        tf::Quaternion bq(imu->orientation.x, imu->orientation.y, imu->orientation.z, imu->orientation.w);
        double roll, pitch, yaw;
        tf::Matrix3x3(bq).getRPY(roll, pitch, yaw);
        ROS_INFO("%lf %lf %lf", roll, pitch, yaw);
        vel.angular.z = roll;
        vel.linear.x = pitch;
        pub.publish(vel);
    }  
     
    int main(int argc, char **argv)
    {
        ros::init(argc, argv, "IMU_Turtle");
        Imu_Test imu_test;
        ros::spin();
        return 0;
    }

修改CMakeLists.txt(添加以下内容)

add_executable(IMU_Turtle_Test src/IMU_Turtle_Test.cpp)
    add_dependencies(IMU_Turtle_Test IMU_Turtle_Test_generate_message_cpp)
    target_link_libraries(IMU_Turtle_Test ${catkin_LIBRARIES})

编译运行

roslaunch xsens_driver xsens_driver.launch
    rosrun turtlesim turtlesim_node
    source ~/catkin_ws/devel/setup.bash
    rosrun IMU_Turtle_Test IMU_Turtle_Test

5.配套软件网站：[https://www.xsens.com/software-downloads][https_www.xsens.com_software-downloads]，最新版本是4.6（2019.10.24），**用最新版本的。**

在这里可以现在Windows版本和Linux版的配套软件，Linux下，在解压后的文件夹的/x64/mtmanager/linux\_64/bin文件夹下：

./mtmanager

可以运行软件，还没具体看怎么用，点断开连接后再打开终端就可以。

后面没用到的部分见：[https://blog.csdn.net/learning\_tortosie/article/details/97806633][https_blog.csdn.net_learning_tortosie_article_details_97806633]

[20191022110743919.png]: /images/20230531/749cf7de59e84775b7286f20bc9f7074.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9taWRpNjY2LmJsb2cuY3Nkbi5uZXQ_size_16_color_FFFFFF_t_70]: /images/20230531/f26e2ca353d8479eae3f35897ab735d4.png
[https_github.com_ethz-asl_ethzasl_xsens_driver]: https://github.com/ethz-asl/ethzasl_xsens_driver
[http_wiki.ros.org_xsens_mti_driver]: http://wiki.ros.org/xsens_mti_driver
[https_wiki.ros.org_xsens_driver]: https://wiki.ros.org/xsens_driver
[https_www.xsens.com_software-downloads]: https://www.xsens.com/software-downloads
[https_blog.csdn.net_learning_tortosie_article_details_97806633]: https://blog.csdn.net/learning_tortosie/article/details/97806633