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Configuring xsens_driver for XSENS IMU in ROS Here I employ xsens MTI-G IMU which is orange in colour.

I am working in ROS FUERTE on ubuntu 12.04 using the xsens_driver package that ships in ethzasl_xsens_driver.

I tried to get all the relevant data from IMU namely orientation orientation covariance angular velocity angular velocity covariance linear acceleration linear acceleration covariance

Configuration steps

1. Attach IMU via USB
2. sudo chmod 777 /dev/ttyUSB0
3. rosrun xsens_driver mtdevice.py --configure --output-mode=coapvs --output-settings=tqMAG

The above command should result in something like this Configuring mode and settings Ok

Running the driver

1. roslaunch xsens_driver xsens_driver.launch

2. rostopic echo /imu/data

Then it should display header: seq: 166 stamp: secs: 1396073832 nsecs: 314651012 frame_id: /imu orientation: x: -0.00116935407277 y: -0.0249380189925 z: 0.306782633066 w: 0.95145213604 orientation_covariance: [0.017453292519943295, 0.0, 0.0, 0.0, 0.017453292519943295, 0.0, 0.0, 0.0, 0.15707963267948966] angular_velocity: x: 0.00783694628626 y: -0.0136562986299 z: 0.00587089639157 angular_velocity_covariance: [0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824] linear_acceleration: x: 0.347801417112 y: -0.202733114362 z: 9.81818389893 linear_acceleration_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004] ---

Good day!