I have an xsens MTI g710 plugged into a Jetson Orin running Ubuntu 20.04.

I have succesfully installed the driver and was able to run the launch file without issue on Noetic.

However, if I end the script and try to run the launch file again, it states that it cannot open the port. I have to restart the Jetson to use it again.

The warning is below:

SUMMARY

========

PARAMETERS * /robotdescription: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.15.14 * /xsensmtinode/pubacceleration: True * /xsensmtinode/pubangularvelocity: True * /xsensmtinode/pubdq: True * /xsensmtinode/pubdv: True * /xsensmtinode/pubfreeacceleration: True * /xsensmtinode/pubgnss: True * /xsensmtinode/pubimu: True * /xsensmtinode/pubmag: True * /xsensmtinode/pubpositionLLA: True * /xsensmtinode/pubpressure: True * /xsensmtinode/pubquaternion: True * /xsensmtinode/pubsampletime: True * /xsensmtinode/pubtemperature: True * /xsensmtinode/pubtransform: True * /xsensmtinode/pubtwist: True * /xsensmtinode/pubvelocity: True * /xsensmtinode/publisherqueue_size: 5

NODES / rviz (rviz/rviz)

xsensmtinode (xsensmtidriver/xsensmtinode)

auto-starting new master

process[master]: started with pid [4525]

ROSMASTERURI=http://localhost:11311

setting /run_id to 5ac69ac8-03e8-11ed-937e-48e7da4146f1

process[rosout-1]: started with pid [4535]

started core service [/rosout]

process[xsensmtinode-2]: started with pid [4542]

process[rviz-3]: started with pid [4543]

[ INFO] [1657853201.809631477]: Creating XsControl object...

[ INFO] [1657853201.833256751]: Scanning for devices...

[ INFO] [1657853201.877806287]: Found a device with ID: 07782938 @ port: /dev/ttyUSB0, baudrate: 115200

[ INFO] [1657853201.877871152]: Opening port /dev/ttyUSB0 ...

[ERROR] [1657853202.080752849]: Could not open port [xsensmtinode-2] process has died [pid 4542, exit code 255, cmd /home/isp/xsensws/devel/lib/xsensmtidriver/xsensmtinode _name:=xsensmtinode _log:=/home/isp/.ros/log/5ac69ac8-03e8-11ed-937e-48e7da4146f1/xsensmti_node-2.log].

log file: /home/isp/.ros/log/5ac69ac8-03e8-11ed-937e-48e7da4146f1/xsensmtinode-2*.log