Thanks for your feedback! Can you let us know which raw IMU data (message ID's) have you enabled and what rates?
We will be testing this issue and will get back to you within the next 2 weeks.

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Hi @arunvydhya, I've tried setting different rates (1,5,10,20,40,50,80,100) while launching the node. Previously(with the old firmware), I was running the sensor at 100Hz and did not face any issues.

For the raw IMU data, I've tried running it with different output settings but with luck. Currently, I'm running it on Normal Mode with no Preset selected. The selected timestamps are Packet counter and Sample Time Fine; Orientation(Quaternion); Inertial Data - Delta q, Delta v, Rate of Turn, Acceleration and the Magnetic field is also selected as an output.

Also, I'm not sure about their exact MIDs but I've changed that so they should be they default ones.

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Update1 :

Upon Xsens support team's suggestion, I further update the firmware to 1.0.14 (from 1.0.12). But now I'm getting the following error while using the ROS drivers:

SUMMARY

PARAMETERS

• /rosdistro: indigo
• /rosversion: 1.11.19
• /xsens_driver/frame_id: imu
• /xsens_driver/frame_local: ENU
• /xsens_driver/frame_local_imu: ENU

NODES
/
xsens_driver (xsens_driver/mtnode_new.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[xsens_driver-1]: started with pid [17511]
[WARN] [WallTime: 1464190090.612756] Cannot find value for parameter: ~device, assigning default: auto
[WARN] [WallTime: 1464190090.613608] Cannot find value for parameter: ~baudrate, assigning default: 0
[ERROR] [WallTime: 1464190090.742375] Fatal: could not find proper MT device.
[xsens_driver-1] process has finished cleanly
log file: /home/gautam/.ros/log/42f8ede0-228c-11e6-8c25-507b9da34719/xsens_driver-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

The latest problem is that MTi device is not being detected by the ROS drivers after the firmware update. Also, Following is my output configuration settings:

Update2 :

After setting the default port address and the baud rate to /dev/ttyUSB0 and 115200 in the node, I'm able to detect the sensor but I'm seeing the same error I was seeing with the previous firmware:

SUMMARY

PARAMETERS

• /rosdistro: indigo
• /rosversion: 1.11.19
• /xsens_driver/frame_id: imu
• /xsens_driver/frame_local: ENU
• /xsens_driver/frame_local_imu: ENU

NODES
/
xsens_driver (xsens_driver/mtnode_new.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[xsens_driver-1]: started with pid [4751]
[WARN] [WallTime: 1464192014.500343] Cannot find value for parameter: ~device, assigning default: /dev/ttyUSB0
[WARN] [WallTime: 1464192014.501176] Cannot find value for parameter: ~baudrate, assigning default: 115200
[INFO] [WallTime: 1464192014.501330] MT node interface: /dev/ttyUSB0 at 115200 bd.
Traceback (most recent call last):
File "/home/gautam/catkin_ws/src/ethzasl_xsens_driver/nodes/mtnode_new.py", line 495, in
main()
File "/home/gautam/catkin_ws/src/ethzasl_xsens_driver/nodes/mtnode_new.py", line 490, in main
driver = XSensDriver()
File "/home/gautam/catkin_ws/src/ethzasl_xsens_driver/nodes/mtnode_new.py", line 56, in init
self.mt = mtdevice.MTDevice(device, baudrate)
File "/home/gautam/catkin_ws/src/ethzasl_xsens_driver/nodes/mtdevice.py", line 30, in init
self.auto_config()
File "/home/gautam/catkin_ws/src/ethzasl_xsens_driver/nodes/mtdevice.py", line 377, in auto_config
self.GoToMeasurement()
File "/home/gautam/catkin_ws/src/ethzasl_xsens_driver/nodes/mtdevice.py", line 184, in GoToMeasurement
self.write_ack(MID.GoToMeasurement)
File "/home/gautam/catkin_ws/src/ethzasl_xsens_driver/nodes/mtdevice.py", line 156, in write_ack
mid_ack, data_ack = self.read_msg()
File "/home/gautam/catkin_ws/src/ethzasl_xsens_driver/nodes/mtdevice.py", line 120, in read_msg
if ord(waitfor())<>0xFA:
File "/home/gautam/catkin_ws/src/ethzasl_xsens_driver/nodes/mtdevice.py", line 118, in waitfor
raise MTException("timeout waiting for message.")
mtdef.MTException: MT error: timeout waiting for message.
[xsens_driver-1] process has died [pid 4751, exit code 1, cmd /home/gautam/catkin_ws/src/ethzasl_xsens_driver/nodes/mtnode_new.py __name:=xsens_driver __log:=/home/gautam/.ros/log/aa00028c-228f-11e6-93a8-507b9da34719/xsens_driver-1.log].
log file: /home/gautam/.ros/log/aa00028c-228f-11e6-93a8-507b9da34719/xsens_driver-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Is there something that I'm missing here? Any suggestion would be helpful. Thanks!

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I am also having the exact same problem and I would really appreciate if I can do something and get it running.

Thank You

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UPDATE : Below is the error that i am getting with the sensor running in Ubuntu 14.04 , I have faced no problems in running it on Windows

hardy@whiteWalker:~$ rosrun xsens_driver mtnode.py _device:=dev/ttyUSB0 _baudrate:=115200
[INFO] [WallTime: 1464202348.318781] Found parameter: ~device, value: dev/ttyUSB0
[INFO] [WallTime: 1464202348.320396] Found parameter: ~baudrate, value: 115200
[INFO] [WallTime: 1464202348.320667] MT node interface: dev/ttyUSB0 at 115200 bd.
Traceback (most recent call last):
File "/home/hardy/catkin_ws/src/xsens/xsens_driver/src/mtnode.py", line 373, in
main()
File "/home/hardy/catkin_ws/src/xsens/xsens_driver/src/mtnode.py", line 368, in main
driver = XSensDriver()
File "/home/hardy/catkin_ws/src/xsens/xsens_driver/src/mtnode.py", line 61, in init
self.mt = mtdevice.MTDevice(device, baudrate)
File "/home/hardy/catkin_ws/src/xsens/xsens_driver/src/mtdevice.py", line 23, in init
writeTimeout=timeout)
File "/usr/lib/python2.7/dist-packages/serial/serialutil.py", line 261, in init
self.open()
File "/usr/lib/python2.7/dist-packages/serial/serialposix.py", line 278, in open
raise SerialException("could not open port %s: %s" % (self._port, msg))
serial.serialutil.SerialException: could not open port dev/ttyUSB0: [Errno 2] No such file or directory: 'dev/ttyUSB0'

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UPDATE 3 : I also got this error

hardy@whiteWalker:~$ rosrun xsens_driver mtdevice.py -m 1 -f 20
Traceback (most recent call last):
File "/home/hardy/catkin_ws/src/xsens/xsens_driver/src/mtdevice.py", line 992, in
main()
File "/home/hardy/catkin_ws/src/xsens/xsens_driver/src/mtdevice.py", line 947, in main
mt = MTDevice(device, baudrate)
File "/home/hardy/catkin_ws/src/xsens/xsens_driver/src/mtdevice.py", line 29, in init
self.auto_config()
File "/home/hardy/catkin_ws/src/xsens/xsens_driver/src/mtdevice.py", line 503, in auto_config
self.GoToConfig()
File "/home/hardy/catkin_ws/src/xsens/xsens_driver/src/mtdevice.py", line 209, in GoToConfig
self.write_ack(MID.GoToConfig)
File "/home/hardy/catkin_ws/src/xsens/xsens_driver/src/mtdevice.py", line 182, in write_ack
mid_ack, data_ack = self.read_msg()
File "/home/hardy/catkin_ws/src/xsens/xsens_driver/src/mtdevice.py", line 165, in read_msg
MID.ErrorCodes[data[0]]))
KeyError: 41

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We are working on it and get back to you asap.

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@hardikrshah007 , @gnarang1024 thanks for your feedback. I have been able to reproduce this on a slower PC. It could be very well possible that the timeout parameter is not enough. The default is now set to (1/samplerate + 6ms). You can probably increase it to 10ms in the mtdef source file -->'additionalTimeOutOffset'. Suggest also to test with a higher baudrate if possible. This issue is not expected to be a FW dependent issue but we are carrying out further checks here. Let us know if this helps.

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@hardikrshah007 , @gnarang1024 if you have troubles getting the device recognized follow the tip below. In the upcoming commits I will add them to the documentation

• The Mti1 (Motion Tracker Development Board) is not recognized.

  Support for the Development Board is present in recent kernels. (Since June 12, 2015).
  If your kernel does not support the Board, you can add this manually

  $ sudo /sbin/modprobe ftdi_sio
  $ echo 2639 0300 | sudo tee /sys/bus/usb-serial/drivers/ftdi_sio/new_id

  • The device is recognized, but I cannot ever access the device -

  Make sure you are in the correct group (often dialout or uucp) in order to
  access the device. You can test this with

  $ ls -l /dev/ttyUSB0
  crw-rw---- 1 root dialout 188, 0 May  6 16:21 /dev/ttyUSB0
  $ groups
  dialout audio video usb users plugdev
  

  If you aren't in the correct group, you can fix this in two ways.

  1. Add yourself to the correct group
     You can add yourself to it by using your distributions user management
     tool, or call

     $ sudo usermod -G dialout -a $USER
     

     Be sure to replace dialout with the actual group name if it is
     different. After adding yourself to the group, either relogin to your
     user, or call

     $ newgrp dialout
     

     to add the current terminal session to the group.

  2. Use udev rules
     Alternatively, put the following rule into /etc/udev/rules.d/99-custom.rules

     SUBSYSTEM=="tty", ATTRS{idVendor}=="2639", ACTION=="add", GROUP="$GROUP", MODE="0660"
     

     Change $GROUP into your desired group (e.g. adm, plugdev, or usb).

  • The device is inaccessible for a while after plugging it in -

  When having problems with the device being busy the first 20 seconds after
  plugin, purge the modemmanager application.

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Hi @arunvydhya , increasing the timeout parameter solved the issue for me. Thanks a lot for your help!

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Hi @arunvydhya , the Rosnode for the IMU is working fine right now . Thank you very much for your help . I was out of town so couldn't get to the issue in order to respond.

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