Comments (6)
Steven-GH
commented on July 4, 2024
1
Hi @Taeyoung96,
At this point your MTi is still not configured to output the right data:
- /imu/acceleration is only published if the MTi outputs the Acceleration message
- /imu/angular_velocity is only published if the MTi outputs the RateOfTurn message
- /imu/data is only published if the MTi outputs at least one of: Acceleration, RateOfTurn or Orientation
However with your current output configuration I think you should already be able to receive:
/imu/dq
/imu/dv
/imu/mag
/imu/time_ref
/pressure
/temperature
It might beconfusing that MT Manager is able to plot the Acceleration/RateOfTurn data. However, this is because MT Manager is able to convert the dv and dq messages into Acceleration/RateOfTurn data. The ROS driver does not support this.
from xsens_mti_ros_node.
Steven-GH
commented on July 4, 2024
Hi @Taeyoung96,
This message will not disappear, but it is basically a reminder telling you to do the following:
- Create a new file xsens.conf in directory /etc/ld.so.conf.d
- Add the following line to it: /usr/local/xsens/lib
- Rebuild the cache using sudo ldconfig
- Check whether it was successful with ldconfig -p | grep xsens. You should see something like this:
libxstypes.so.2021 (libc6,x86-64) => /usr/local/xsens/lib/libxstypes.so.2021
libxstypes.so (libc6,x86-64) => /usr/local/xsens/lib/libxstypes.so
libxsensdeviceapi.so.2021 (libc6,x86-64) => /usr/local/xsens/lib/libxsensdeviceapi.so.2021
libxsensdeviceapi.so (libc6,x86-64) => /usr/local/xsens/lib/libxsensdeviceapi.so
libxkf700_filter.so.6 (libc6,x86-64) => /usr/local/xsens/lib/libxkf700_filter.so.6
libxkf700_filter.so (libc6,x86-64) => /usr/local/xsens/lib/libxkf700_filter.so
libxkf3i_filter.so.5 (libc6,x86-64) => /usr/local/xsens/lib/libxkf3i_filter.so.5
libxkf3i_filter.so (libc6,x86-64) => /usr/local/xsens/lib/libxkf3i_filter.so
libxkf3hm_filter.so.0 (libc6,x86-64) => /usr/local/xsens/lib/libxkf3hm_filter.so.0
libxkf3hm_filter.so (libc6,x86-64) => /usr/local/xsens/lib/libxkf3hm_filter.so
libxkfcore_filter.so.1 (libc6,x86-64) => /usr/local/xsens/lib/libxkfcore_filter.so.1
libxkfcore_filter.so (libc6,x86-64) => /usr/local/xsens/lib/libxkfcore_filter.so
from xsens_mti_ros_node.
Taeyoung96
commented on July 4, 2024
@StevenXsens
Thanks for your reply.
With your help, I succeeded in downloading the MT software suite.
However, I encounter another problem.
The device seems to be recognized, but I don't think I can get the IMU data.
When I execute roslaunch xsens_mti_driver display.launch,
The results are shown below.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://taeyoung-cilab:42647/
SUMMARY
========
PARAMETERS
* /robot_description: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.12
* /xsens_mti_node/pub_acceleration: True
* /xsens_mti_node/pub_angular_velocity: True
* /xsens_mti_node/pub_dq: True
* /xsens_mti_node/pub_dv: True
* /xsens_mti_node/pub_free_acceleration: True
* /xsens_mti_node/pub_gnss: True
* /xsens_mti_node/pub_imu: True
* /xsens_mti_node/pub_mag: True
* /xsens_mti_node/pub_positionLLA: True
* /xsens_mti_node/pub_pressure: True
* /xsens_mti_node/pub_quaternion: True
* /xsens_mti_node/pub_sampletime: True
* /xsens_mti_node/pub_temperature: True
* /xsens_mti_node/pub_transform: True
* /xsens_mti_node/pub_twist: True
* /xsens_mti_node/pub_velocity: True
* /xsens_mti_node/publisher_queue_size: 5
NODES
/
rviz (rviz/rviz)
xsens_mti_node (xsens_mti_driver/xsens_mti_node)
ROS_MASTER_URI=http://localhost:11311
process[xsens_mti_node-1]: started with pid [14769]
process[rviz-2]: started with pid [14770]
[ INFO] [1664375521.214797799]: Creating XsControl object...
[ INFO] [1664375521.231425633]: Scanning for devices...
[ INFO] [1664375521.264140867]: Found a device with ID: 017828BD @ port: /dev/ttyUSB0, baudrate: 115200
[ INFO] [1664375521.264186657]: Opening port /dev/ttyUSB0 ...
[ INFO] [1664375521.319884915]: Device: MTi-100-2A8G4, with ID: 017828BD opened.
[ INFO] [1664375521.350122846]: Measuring ...
And the Rviz screen is like below,
I want to use MT Manager, I change py path to ~/Downloads/MT_Software_Suite_linux-x64_2021.4/mtmanager/linux-x64/bin
I exectue sudo ./mtmanger.
And the output is below.
Nothing is being printed on the screen.
Which part should I fix first?
Thanks,
from xsens_mti_ros_node.
Steven-GH
commented on July 4, 2024
Hi @Taeyoung96,
This means that your MTi device is not configured to output the messages that are required by the ROS driver (or for displaying in MT Manager). You can enable the correct messages in the Device Settings menu of MT Manager:
However, the above screenshot is for an MTi-300 AHRS device which has onboard sensor fusion algorithms. The MTi-100 which you are using is an IMU model without sensor fusion algorithms. It will therefore not produce estimates of orientation (quaternion/Euler/rotation matrix) or Free Acceleration. This also means that Rviz cannot show the real-time orientation of your MTi-100. Other outputs such as angular_velocity and acceleration are available.
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Taeyoung96
commented on July 4, 2024
@StevenXsens
Thank you for your help.
However, other problems continue to arise.
I fix my Device Settings and it could show data on MT manager like below.
And I execute roslaunch xsens_mti_driver xsens_mti_node.launch, and the results are shown below.
(Because I didn't have orientation data, the "display example" didn't work for me.
roslaunch xsens_mti_driver xsens_mti_node.launch
... logging to /home/taeyoung/.ros/log/d8eae8d2-3f34-11ed-877f-3497f6927eaa/roslaunch-taeyoung-cilab-23885.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://taeyoung-cilab:37337/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.12
* /xsens_mti_node/baudrate: 115200
* /xsens_mti_node/device_id: 017828BD
* /xsens_mti_node/frame_id: imu_link
* /xsens_mti_node/port: /dev/ttyUSB0
* /xsens_mti_node/pub_acceleration: True
* /xsens_mti_node/pub_angular_velocity: True
* /xsens_mti_node/pub_dq: True
* /xsens_mti_node/pub_dv: True
* /xsens_mti_node/pub_free_acceleration: False
* /xsens_mti_node/pub_gnss: False
* /xsens_mti_node/pub_imu: True
* /xsens_mti_node/pub_mag: True
* /xsens_mti_node/pub_positionLLA: False
* /xsens_mti_node/pub_pressure: True
* /xsens_mti_node/pub_quaternion: True
* /xsens_mti_node/pub_sampletime: True
* /xsens_mti_node/pub_temperature: True
* /xsens_mti_node/pub_transform: True
* /xsens_mti_node/pub_twist: False
* /xsens_mti_node/pub_velocity: False
* /xsens_mti_node/publisher_queue_size: 5
NODES
/
xsens_mti_node (xsens_mti_driver/xsens_mti_node)
ROS_MASTER_URI=http://localhost:11311
process[xsens_mti_node-1]: started with pid [23903]
[ INFO] [1664502776.199169032]: Creating XsControl object...
[ INFO] [1664502776.212026752]: Found baudrate parameter: 115200
[ INFO] [1664502776.212706261]: Found device ID parameter: 017828BD.
[ INFO] [1664502776.213331003]: Found port name parameter: /dev/ttyUSB0
[ INFO] [1664502776.213350274]: Scanning port /dev/ttyUSB0 ...
[ INFO] [1664502776.245586543]: Found a device with ID: 017828BD @ port: /dev/ttyUSB0, baudrate: 115200
[ INFO] [1664502776.245684711]: Opening port /dev/ttyUSB0 ...
[ INFO] [1664502776.301558916]: Device: MTi-100-2A8G4, with ID: 017828BD opened.
[ INFO] [1664502776.332867440]: Measuring ...
But I didn't get any data from this launch file.
taeyoung@taeyoung-cilab:~/catkin_ws$ rostopic list
/filter/quaternion
/imu/acceleration
/imu/angular_velocity
/imu/data
/imu/dq
/imu/dv
/imu/mag
/imu/time_ref
/pressure
/rosout
/rosout_agg
/temperature
/tf
taeyoung@taeyoung-cilab:~/catkin_ws$ rostopic hz /imu/data
subscribed to [/imu/data]
no new messages
no new messages
no new messages
no new messages
no new messages
^Cno new messages
taeyoung@taeyoung-cilab:~/catkin_ws$ rostopic hz /imu/acceleration
subscribed to [/imu/acceleration]
no new messages
no new messages
no new messages
no new messages
no new messages
^Cno new messages
taeyoung@taeyoung-cilab:~/catkin_ws$ rostopic hz /imu/angular_velocity
subscribed to [/imu/angular_velocity]
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
^Cno new messages
According to Xsens Mti driver Troubleshooting, I also check setserial command.
I got following error.
taeyoung@taeyoung-cilab:~/catkin_ws$ setserial /dev/ttyUSB0 low_latency
Cannot get serial info: Inappropriate ioctl for device
I'd appreciate it if you could give me an answer.
Thanks,
from xsens_mti_ros_node.
Taeyoung96
commented on July 4, 2024
@StevenXsens
Thanks for your help.
Now I could get /imu/data normally!
---
header:
seq: 3194
stamp:
secs: 1664536000
nsecs: 620643238
frame_id: "imu_link"
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: 3.57851313311e-05
y: 0.00446774158627
z: -0.000764021475334
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: 0.0245991684496
y: 0.0108192535117
z: 9.82582092285
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
from xsens_mti_ros_node.
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