Xsens MTi CAN ROS Driver

This code was based on the official xsens_ros_mti_driver and tested on MTi-680-DK on ubuntu 20.04LTS with ROS Noetic.

Note: the SampleTime, UTC Time needs to be enabled, in order to get the correct sequence of the data packet(To group multiple data types(CAN Frames) into one packet): MT Manager - Device Settings - Output Configuration - CAN mode , select "SampleTime, UTC Time" and other required data, click "Apply"

Here are the recommended Output Configurations and Device Settings:

How to Install:

clone the source file to your catkin_ws, and run the code below:

cd ~/catkin_ws
catkin_make

You might need to do catkin_make two times if you had deleted the devel and build folders, because you will see errors with the custom message XsStatusWord

Source the /devel/setup.bash file inside your catkin workspace

source ./devel/setup.bash

or

add it into rules:

sudo nano ~/.bashrc

At the end of the file, add the following line:

source /[PATH_TO_Your_catkin_ws]/devel/setup.bash

save the file, exit.

How to Use:

open terminal: firstly configure the can0 baudrate using the setup_can0.sh:

sudo ./setup_can0.sh

Then:

roslaunch xsens_mti_can_ros_driver xsens_mti_can_node.launch

or with the 3D display rviz:

roslaunch xsens_mti_can_ros_driver display.launch

Troubleshooting

use the below command in terminal to check if there is data:

candump -ta can0

ROS Topics

topic	Message Type	Message Contents	Data Output Rate (Depending on Model and OutputConfigurations at MT Manager)
filter/free_acceleration	geometry_msgs/Vector3Stamped	free acceleration from filter, which is the acceleration in the local earth coordinate system (L) from which the local gravity is deducted	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
filter/positionlla	geometry_msgs/Vector3Stamped	filtered position output in latitude (x), longitude (y) and altitude (z) as Vector3, in WGS84 datum	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
filter/quaternion	geometry_msgs/QuaternionStamped	quaternion from filter	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
filter/twist	geometry_msgs/TwistStamped	velocity and angular velocity	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
filter/velocity	geometry_msgs/Vector3Stamped	filtered velocity output as Vector3	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
gnss_pose	geometry_msgs/PoseStamped	filtered position output in latitude (x), longitude (y) and altitude (z) as Vector3 in WGS84 datum, and quaternion from filter	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
imu/acceleration	geometry_msgs/Vector3Stamped	calibrated acceleration	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
imu/angular_velocity	geometry_msgs/Vector3Stamped	calibrated angular velocity	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
imu/data	sensor_msgs/Imu	quaternion, calibrated angular velocity and acceleration	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
imu/dq	geometry_msgs/QuaternionStamped	integrated angular velocity from sensor (in quaternion representation)	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
imu/dv	geometry_msgs/Vector3Stamped	integrated acceleration from sensor	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
imu/mag	geometry_msgs/Vector3Stamped	calibrated magnetic field	1-100Hz
imu/time_ref	sensor_msgs/TimeReference	SampleTimeFine timestamp from device	depending on packet
imu/utctime	sensor_msgs/TimeReference	UTC Time from the device	depending on packet
pressure	sensor_msgs/FluidPressure	barometric pressure from device	1-100Hz
status	diagnostic_msgs/DiagnosticArray	statusWord, 32bit	depending on packet
temperature	sensor_msgs/Temperature	temperature from device	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)
tf	geometry_msgs/TransformStamped	transformed orientation	1-400Hz(MTi-600 and MTi-100 series), 1-100Hz(MTi-1 series)

Please refer to MTi Family Reference Manual for detailed definition of data.