1.传感器型号如下:
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.
2.驱动的GitHub:https://github.com/ethz-asl/ethzasl_xsens_driver
相关WIKI:http://wiki.ros.org/xsens_mti_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
#include
#include
#include
#include
#include
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("/turtle1/cmd_vel", 1);
sub = n.subscribe("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,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