Download, compile and install XSENS YARP device from icub-main
repository.
sudo apt install libgsl0-dev # Seems to be hard dependency
cd # go home
mkdir -p repos; cd repos # make $HOME/repos if it doesn't exist; then, enter it
git clone https://github.com/robotology/icub-main
cd icub-main && mkdir build && cd build
cmake .. -DENABLE_icubmod_xsensmtx=ON # Configure the icub-main software
make -j$(nproc) # compile
sudo make install
sudo ldconfig
Check installation:
yarpdev --list | grep xsensmtx
In order to allow a non-sudoer to read data from the sensors connected via USB port, you need to add a rule for udev system.
Similar to the advice from debian udev documentation, create /etc/udev/rules.d/80-persistent-local-usb.rules
with the following contents:
KERNEL == "ttyUSB0", MODE = "0777"
Run (may require sudo
if rules not set):
yarpdev --device inertial --subdevice xsensmtx --name /inertial
Data can be vizualized via classic yarp read ... /inertial
or like in teoTools.xml.