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Configuring xsens_driver for XSENS IMU in ROS Here I employ xsens MTI-G IMU which is orange in colour.

I am working in ROS FUERTE on ubuntu 12.04 using the xsens_driver package that ships in ethzasl_xsens_driver.

I tried to get all the relevant data from IMU namely orientation orientation covariance angular velocity angular velocity covariance linear acceleration linear acceleration covariance

Configuration steps

1. Attach IMU via USB
2. sudo chmod 777 /dev/ttyUSB0
3. rosrun xsens_driver mtdevice.py --configure --output-mode=coapvs --output-settings=tqMAG

The above command should result in something like this Configuring mode and settings Ok

Running the driver

1. roslaunch xsens_driver xsens_driver.launch

2. rostopic echo /imu/data

Then it should display all the data from IMU.

Good day!