How to get GPS data from MTi-G-700 xsens driver over ROS

asked 2016-05-09 05:06:16 -0600

Abdallah sobehy
33 ●3 ●4 ●9

I am using an MTi-G-700 motion tracker from xsens. According to xsens website they point to this ROS driver for reading data. I followed the instructions on that link, however when using rostopic echo for the published topics, I only get readings from mti/sensor/imu and mti/sensor/magnetic while the other topics are not advertising any data. I am interested mostly in the GPS data which is probably advertised on the topic mti/sensor/gnssPvt

Is there something I am missing to get the GPS data ?

Note: I have also tried other drivers mtig_driver, ethzasl_xsens_driver, lse_xsens_mti but I faced more problems with those.

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Did you try to use this driver : http://wiki.ros.org/xsens_driver ?

moooeeeep ( 2018-01-24 03:30:57 -0600 )edit

Hey, well I have same question! any news on this?

r.ghahremani ( 2018-11-05 02:13:40 -0600 )edit

@R.gharemani I put some points to try into an answer. Maybe it helps...

moooeeeep ( 2018-11-05 08:12:32 -0600 )edit

did you try "rosrun xsens_driver mtdevice.py -m 2 -f 100" then try "rostopic echo /mti/sensor/gnssPvt", you should see GPS data now (don't forget to get outside of building to have GPS signal :p ).

r.ghahremani ( 2018-11-15 00:42:58 -0600 )edit

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answered 2018-11-05 08:10:02 -0600

moooeeeep
194 ●13 ●19 ●23

updated 2018-11-05 16:17:39 -0600

At least with the driver I previously used (this one), the GPS topics will not be published or even advertised when anything is wrong with the GPS signal or the device is just not configured to output GPS data. For example, you may want to try the the following things:

You need to plug in the GPS receiver.
You need to put the device outside (good satellite visibility for several minutes), such that the receiver can get a GPS fix.
You need to configure the device to produce GPS output, either using the Xsens MT SDK, or using the xsens_driver mtdevice.py:
- https://www.xsens.com/mt-software-dev... (you can also use this tool to inspect the current GPS data without writing a new configuration to the device I think)
- http://wiki.ros.org/xsens_driver (don't forget to save the old config before you overwrite it, just in case you'd like to restore it)

Comments

Just a minor correction: The configuration of the Xsens is done with the mtdevice.py script rather than mtnode.py

Carl D ( 2018-11-05 11:15:25 -0600 )edit

@CarlD Thanks for the note!

moooeeeep ( 2018-11-05 11:17:46 -0600 )edit

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How to get GPS data from MTi-G-700 xsens driver over ROS

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