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<node pkg="xsens_drive" name="mtnode.py" type="mtnode.py" output="screen">

I think the package is actually called xsens_driver, so the following should work:

<node pkg="xsens_driver" name="mtnode" type="mtnode.py" output="screen"> 
  ..
</node>

The type for a Python script is always just the script itself. The name can be anything, but must follow the ROS naming conventions.

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