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The master branch cannot work directly for ROS hydro version.

But we could install the ros-hydro-gps-common from the Synaptic Package Manager.

And then $git clone https://github.com/ethz-asl/ethzasl_xsens_driver.git $catkin_make

After that, it should work

To use the xsens_driver, the USB access shall be changed to the administrator

$sudo chmod 777 /dev/ttyUSB0

Then the xsens_driver could be launched and the imu data could be viewed by the following command.

$roslaunch xsens_driver xsens_driver.launch $rostopic echo /imu/data