Version 4.0.0: Added support to MTi-7 device, merge pull request #32 …

…and #33
xsens · Jul 4, 2018 · 691fab0 · 691fab0
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,10 @@
 # Changelog for package xsens_mti_ros_node
 
+## 4.0.0 (2018-07-04)
+* Merge pull request #33: Change custom_msgs to xsens_msgs
+* Merge pull request #32: Configure MTi device on startup
+* Added support to MTi-7 device
+
 ## 3.0.2 (2018-04-24)
 * Added warning (rospy.logwarn) for timeouts
 

diff --git a/README.md b/README.md
@@ -50,6 +50,7 @@
    $ . $CATKIN/devel/setup.bash
    $ rostopic echo /mti/sensor/imu
    ```
+Tested with ROS Kinetic distribution, initially developed for ROS Indigo distribution.
 
 # Troubleshooting
 

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -1 +1 @@
-/opt/ros/indigo/share/catkin/cmake/toplevel.cmake
+/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
diff --git a/src/xsens_driver/config/xsens.yaml b/src/xsens_driver/config/xsens.yaml
@@ -2,30 +2,33 @@
 device: /dev/ttyUSB0
 
 # Baudrate. If configure_on_startup is true, will set device to use baudrate
-baudrate: 230400
+baudrate: 115200
 
 # Frame id which is assigned to all sensor data messages
 frame_id: xsens
 
 # Will configure the device on startup
 configure_on_startup: true
 
-# Output data rate of device. Valid values: 1, 2, 4, 5, 10, 20, 40, 50, 80, 100, 200, 400
-odr: 40
+# Output data rate of device. Valid values: 1, 2, 4, 5, 10, 20, 40, 50, 80, 100, 200, 400, 800
+# Refer to MT Low Level Communication Protocol  Documentation for supported ODRs for each MTi series
+# https://base.xsens.com/hc/en-us/articles/207003759-Online-links-to-manuals-from-the-MT-Software-Suite
+odr: 10
 
-# xkf-scenario
-# general: 39
-# high_mag_dep: 40
-# dynamic: 41
-# low_mag_dep: 42
-# vru_general: 43 (only profile available for mti-20)
-xkf_scenario: 43
+# Filter profiles (xkf-scenario)
+# MTi-2 [VRU_general:54]
+# MTi-2 [General:50, High_mag_dep:51, Dynamic:52, North_referenced:53, VRU_general:54] 
+# MTi-7 [General:11, GeneralNoBaro:12, GeneralMag:13]
+# MTi-20/200 [VRU_general: 43]
+# MTi-30/300 [General:39, High_map_dep:40, Dynamic:41, Low_mag_dep:42, VRU_general:43]
+# MTi-G-710 [General:1, GeneralNoBaro:2, GeneralMag:3, Automotive:4 HighPerformanceEDR:5)
+xkf_scenario: 11
 
 # Output data mode
 # 1: sensor data
 # 2. sensor data w/ rate quantities
 # 3: filter estimates
-output_mode: 2
+output_mode: 3
 
 # Use rostime for IMU stamp instead of sensor reported time
 use_rostime: true
diff --git a/src/xsens_driver/package.xml b/src/xsens_driver/package.xml
@@ -1,8 +1,8 @@
 <package>
   <name>xsens_driver</name>
-  <version>3.0.2</version>
+  <version>4.0.0</version>
   <description>
-  ROS Driver for publishing mti sensor sample messages (MTi 1-series, MTi 10-series and MTi 100-series incl. MTi-G-710).
+  ROS Driver for publishing mti sensor sample messages (MTi 1-series incl. MTi-7, MTi 10-series and MTi 100-series incl. MTi-G-710).
   </description>
   <maintainer email="[email protected]">Xsens</maintainer>
   <license>BSD</license>

diff --git a/src/xsens_driver/src/mtdef.py b/src/xsens_driver/src/mtdef.py
@@ -228,8 +228,8 @@ class XDIMessage:
 
 class XDIProductMask:
 	"""Product masks for the Xsens MTi series devices."""
-	FMT1000Series			= "c" # 0x0C
 	MTi1Series				= "8" # 0x08
+	MTi7Device				= "7" # 0x07
 	MTi10Series				= "6" # 0x06
 	MTi100Series			= "7" # 0x07
 	MTi700Device			= "7" # this is a subset of the 100-series 

diff --git a/src/xsens_driver/src/mtdevice.py b/src/xsens_driver/src/mtdevice.py
@@ -415,7 +415,7 @@ def configureMti(self, mtiSampleRate, mtiMode):
 		if mtiSampleRate < int(new_pressure_period):
 			new_pressure_period = mtiSampleRate
 
-		if (deviceIDProductMask[2] == XDIProductMask.MTi1Series) | (deviceIDProductMask[2] == XDIProductMask.FMT1000Series):
+		if (deviceIDProductMask[2] == XDIProductMask.MTi1Series):
 			new_imu_period = rate_imu_period = new_mag_period = XDIMessage.FsModule
 			if mtiSampleRate < int(new_imu_period):
 				new_imu_period = rate_imu_period = new_mag_period = mtiSampleRate
@@ -485,21 +485,21 @@ def configureMti(self, mtiSampleRate, mtiMode):
 				data = mStf+mSw+mOrientation
 			else:
 				raise MTException("unknown mtiMode: (%d)."%	(mtiMode))
-		elif deviceIDProductMask[2] == XDIProductMask.MTi1Series:
-			print "MTi-1/2/3 device detected"
+		elif (deviceIDProductMask[2] == XDIProductMask.MTi1Series) & (deviceTypeMask[2] == XDIProductMask.MTi7Device):
+			print "MTi-7 device detected"
 			if mtiMode == 1:
 				print "Enabled publishing all sensor data"
-				data = mStf+mImuDq+mImuDv+mImuMag+mSw+mOrientationQuat
+				data = mStf+mImuDq+mImuDv+mImuMag+mImuP+mGnssPvt+mSw+mOrientationQuat
 			elif mtiMode == 2:
 				print "Enabled publishing all sensor data (rate quantities)"
-				data = mStf+mImuGyr+mImuAcc+mImuMag+mSw+mOrientationQuat
+				data = mStf+mImuGyr+mImuAcc+mImuMag+mImuP+mGnssPvt+mSw+mOrientationQuat
 			elif mtiMode == 3:
 				print "Enabled publishing all filter estimates"
-				data = mStf+mSw+mOrientation
+				data = mStf+mSw+mOrientation+mVelocity+mPosition+mHeight
 			else:
 				raise MTException("unknown mtiMode: (%d)."%	(mtiMode))
-		elif deviceIDProductMask[2] == XDIProductMask.FMT1000Series:
-			print "FMT-1010/1020/1030 device detected"
+		elif deviceIDProductMask[2] == XDIProductMask.MTi1Series:
+			print "MTi-1/2/3 device detected"
 			if mtiMode == 1:
 				print "Enabled publishing all sensor data"
 				data = mStf+mImuDq+mImuDv+mImuMag+mSw+mOrientationQuat
@@ -510,7 +510,7 @@ def configureMti(self, mtiSampleRate, mtiMode):
 				print "Enabled publishing all filter estimates"
 				data = mStf+mSw+mOrientation
 			else:
-				raise MTException("unknown mtiMode: (%d)."%	(mtiMode))	
+				raise MTException("unknown mtiMode: (%d)."%	(mtiMode))
 		else:
 			raise MTException("Unknown device")