mainpage.dox

/**
\mainpage
\htmlinclude manifest.html

The \b xsens_driver package provides \b mtnode.py, a generic ROS node publishing the data streamed by an XSens imu (MT, MTi, MTi-G...).

\section topics Topics

The ROS node is a wrapper around the \b mtdevice::MTDevice class. It can publish the
following topics, depending on the configuration of the device:
- \c /imu/data (<a
  href="http://www.ros.org/doc/api/sensor_msgs/html/msg/Imu.html">sensor_msgs::Imu</a>):
  orientation, angular velocity, linear acceleration,
- \c /fix (<a
  href="http://www.ros.org/doc/api/sensor_msgs/html/msg/NavSatFix.html">sensor_msgs::NavSatFix</a>):
  longitude, latitude, altitude (from GPS only for MTi-G),
- \c /fix_extended (<a
  href="http://www.ros.org/doc/api/gps_common/html/msg/GPSFix.html">gps_common::GPSFix</a>):
  more complete GPS information than \c /fix,
- \c /velocity (<a
  href="http://www.ros.org/doc/api/geometry_msgs/html/msg/TwistStamped.html">geometry_msgs::TwistStamped</a>): linear and angular velocity,
- \c /magnetic (<a
  href="http://www.ros.org/doc/api/geometry_msgs/html/msg/Vector3Stamped.html">geometry_msgs::Vector3Stamped</a>): direction of magnetic field,
- \c /temperature (<a
  href="http://www.ros.org/doc/api/std_msgs/html/msg/Float32.html">std_msgs::Float32</a>): temperature. 

It also publishes <a href="http://www.ros.org/wiki/diagnostics">diagnostics</a>
information.

If the IMU is set to raw mode, the values in of the \c /imu/data, \c /velocity and \c
/magnetic topics are the 16 bits output of the AD converters.

The covariance information in the <a
 href="http://www.ros.org/doc/api/sensor_msgs/html/msg/Imu.html">sensor_msgs::Imu</a>
message are filled with default values from the MTx/MTi/MTi-G documentation but
may not be exact; it also does not correspond to the covariance of the internal XKF.

\section params Parameters

The nodes can take the following parameters:
- \a ~device (\c auto): the path of the device file to connect to the imu; \c
  auto will look through all serial devices to find the first one.
- \a ~baudrate (0): the baudrate of the IMU (unused for \c auto device); 0 will
  try to auto-detect baudrate.
- \a ~frame_id (\c /base_imu): the frame id of the IMU.

\section dialout Permissions

It might be necessary to add the user to the \c dialout group so that the node can communicate with the device.

*/