xsensmt-yarp-driver

YARP Device Driver for XSens MT* devices based on the MT Software Suite.

Rationale

This repository contains the xsensmt YARP Device Driver (see YARP documentation on devices ) that expose any Xsens-based IMU that work with the Xsens MT Software Suite as a C++ class with the IGenericSensor interface. There is currently no precisly defined format to expose IMU devices in YARP (see robotology/yarp#802), and so this devices tries to match as much as possible the behaviour of the xsensmtx device, contained in the icub-main repository.

Installation

Dependencies

YARP

Step-by-step installation

Install YARP on your platform, following the instructions on YARP documentation.
Compile the code in this repository using CMake and your preferred compiler. See YARP documentation on how to compile a CMake project.
Install the project. You can specify the installation directory prefix using the CMAKE_INSTALL_PREFIX CMake option.
Add ${CMAKE_INSTALL_PREFIX}/share/yarp (where ${CMAKE_INSTALL_PREFIX} needs to be substituted to the directory that you choose as the CMAKE_INSTALL_PREFIX) to your YARP_DATA_DIRS enviromental variable (for more on the YARP_DATA_DIRS env variable, see YARP documentation on data directories ).
Once you do that, you should be able to find the xsensmt device compiled by this repo using the command yarp plugin xsensmt, which should have an output similar to:

Yes, this is a YARP plugin
  * library:        CMAKE_INSTALL_PREFIX/lib/yarp/xsensmt.so
  * system version: 5
  * class name:     yarp::dev::XsensMT
  * base class:     yarp::dev::DeviceDriver

If this is not the case, there could be some problems in finding the plugin. In that case, just move yourself to the ${CMAKE_INSTALL_PREFIX}/share/yarp directory and launch the device from there.

Device use

To launch the xsensmt device, you can connect the Xsens IMU (for example the MTI-300) to your Linux computer and the default configuration parameters should be sufficient to work fine. To do so, launch the yarpserver, then on a terminal launch the device:

yarpdev --device inertial --subdevice xsensmt

This should open a YARP port /inertial , that you can read from the command line for example using the yarp read command:

yarp read ... /inertial