General
Interface name |
|
---|---|
Interface file |
|
Supported Since |
|
OEM Hardware/Software/Firmware Version | |
Sensor Communication Protocol | |
PolySync Sensor Type |
|
Driver Notes |
|
(OEM) Sensor Description
PolySync Configuration
- Locate the sensor's serial number
- Copy serial number into SDF configuration
- Run PolySync
It is required to have a Device Manager (udev) entry in the /etc/udev/rules.d/ directory for this node to run – see Debugging Tips below
Interface Requirements
- List if it's CAN/Eth/Serial, etc.
- Default IP Address or similar
- If there are network restrictions (buffer sizes, MTU size, etc) list them here
Input Message Types
Input Msg Type
|
Notes
|
---|---|
Native USB | Uses libxsens utilities that ship with PolySync release packages |
Output Message Types
Output Msg Type
|
Notes
|
---|---|
ps_platform_motion_msg | GPS/IMU data available |
Command Line Arguments
- -h show this help message [optional]
- -o enable output of log messages to stdout (in addition to syslog) [optional]
- -w disable the hardware interface(s), allowing the node to run without hardware connected [optional]
- -r SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
- -n SDF node configuration key for the node [required]
- -i use provided PAL interface file instead of what is stored in the SDF [optional]
- -e export a JSON support string describing the interface, used by the SDF configuration tool [optional]
- -t perform a validation test on the XSens MT interface [optional]
- -g get all available XSens MT device identifiers on the host [optional]
Events
Event ID
|
Event Description
|
Implemented (y/n)
|
Active When
|
Notes
|
---|---|---|---|---|
N/A | N/A |
Parameters
Parameter ID
|
Description
|
Notes
|
---|---|---|
800 | Active Coordinate Frame Identifier | Meters |
80 | Third Party Software Key 0 | Meters |
81 | Third Party Software Key Description 0 | Meters |
1001 | Sensor 0 Identifier | Degrees |
1002 | Sensor 0 X Position | Degrees |
1003 | Sensor 0 Y Position | Degrees |
1004 | Sensor 0 Z Position |
Reflects SDF sensor configuration |
1005 | Sensor 0 Roll Orientation | PolySync sensor type |
1006 | Sensor 0 Pitch Orientation | Default: 0.25 seconds |
1007 | Sensor 0 Yaw Orientation | Default: true |
Debugging Tips
To parse the sensor identifier from the Xsens the PolySync Manager needs to be running to manage the wall clock.
`$ polysync-manager`
If you see the following error it's best to verify the UDEV file is installed to the system that is required by the Xsens device on Linux systems
ERROR : XSENS_MT : XSENS_MT_pre_validate -- no devices found
The UDEV file ships with PolySync and is located in $PSYNC_HOME/deps/92-xsens.rules. The file needs to be copied to the system /etc/udev/rules.d/.
$ sudo cp $PSYNC_HOME/deps/92-xsens.rules /etc/udev/rules.d/
It's also very important that the current user is part of the dialout group, which allows access to the USB device.
$ whoami
dev
$ sudo adduser dev dialout
The last requirement to connect to the Xsens is that the PolySync SDF contains the Sensor 0 Identifier that uniquely describes the connected device. See this article for more information on parsing the sensor identifier using the PolySync Dynamic Driver.
XSens MTi-G-710
Some Linux users reported that the MTi-G-710 model required additional steps to access the device through PolySync. Please follow the steps below to get the sensor running.
$ whoami
dev
$ sudo adduser dev dialout
$ sudo reboot # need to restart to have new permissions take effect
# after reboot...
$ polysync-manager # start in wall-clock mode (no arguments)
Now you can run the PolySync Dynamic Driver and parse the sensor identifier, and run the driver to publish data to the bus.
$ polysync-dynamic-driver -n 11 -g
...
$ polysync-dynamic-driver -n 11
You can also build and install the MT SDK libraries. Note that this is not required, but will confirm that you can properly talk to the Xsens device.
$ cd /usr/local/polysync/deps/
$ mkdir xsens-tmp
$ cd xsens-tmp
$ cp ../mfmsdk_mtm_mtsdk_linux_4.2.1_beta.zip .
$ unzip mfmsdk_mtm_mtsdk_linux_4.2.1_beta.zip
$ tar xf mtsdk_linux_69.tar.gz
$ cd mtsdk/shared_object
$ make
$ sudo make system_install
Now you can run the Xsens MT SDK example applications to connect to the sensor.
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