run this file
install.sh
required ros installed download and install sdk manager for azure kinect following : https://github.com/valdivj/Azure-for-Kinect-Jetson-nano
download and copy to the catkin_ws / src folder the ros azure drivers from the website guide: https://scazlab.github.io/azure_setup_guide.html
Please note that you may need to run
catkin_make --force-cmake
to update the SDK binaries which are copied into the ROS output folders.
Important Note: Due to its upcoming end-of-life, consider ROS 2 (Foxy) for new projects as it offers better performance and support. ROS Noetic will reach its end-of-life in May 2025
Take into account that you have to flash the jetson without the last jetpack version (6.0..) mounting ubuntu 22. It is preferred also to flaseh with SDK manager installed onto a maximum UBUNTU standalone computer with maximum the 20 LTS versione. For newer version more work is needed. So recapping:
Follow the official guide to install ROS 1 NOETIC for linux (UBUNTU 20 max supported): http://wiki.ros.org/noetic/Installation/Ubuntu
Follow the official guie linked in the previous guide to set up the catkin environment http://wiki.ros.org/catkin/Tutorials/create_a_workspace Then install IMU xsens drivers and library->
https://github.com/xsens/xsens_mti_ros_node
https://github.com/nobleo/xsens_mti_driver
You can find documentation inside directory here : MTSDK INSTALL DIR/doc/xsensdeviceapi/doc/html/index.html
setting the environment for sensors we have installed an external ssd EVO of 1 Tb to save data, it is also linked to download folder, The documents folder inide it is where you want to put the code. The libraries will be installed as usually in the parent directory of the operating system We are using a specific IMU with dev board to see the specific of IMU MTi 610 go there
https://mtidocs.movella.com/development-board
A Guide for configuring MTi SDK for Jetson nano:
https://base.movella.com/s/article/Interfacing-MTi-devices-with-the-NVIDIA-Jetson-1605870420176?language=en_US
Download MTi SDK from here:
https://www.movella.com/support/software-documentation
Run XDA examples in c++ to test the xsens IMU Regular XDA cannot be compiled using ARM processors. Users of ARM platforms (e.g. NVIDIA Jetson) can use the open source XDA examples instead.
Download last stable version from here:
https://www.movella.com/support/software-documentation"
unpack it:
tar -xzf MT_Software_Suite...
also dependencies that is needed
sudo apt update
pip install keyboard
sudo apt install build-essential
sudo apt install libtool
sudo apt install sharutils
sudo apt-get install libusb-1.0-0-dev
The MTi USB dongle allows users to connect the robust MTi 600-series (such as the MTi-680G) to a USB port. Support for this accessory is not yet present in older Linux versions of the MT Software Suite. The drivers can be installed separately using:
sudo /sbin/modprobe ftdi_sio
echo 2639 0301 | sudo tee /sys/bus/usb-serial/drivers/ftdi_sio/new_id
Install the MTi USB Serial Driver (try it i get an error)
$ git clone https://github.com/xsens/xsens_mt.git
$ cd ~/xsens_mt
$ make
$ sudo modprobe usbserial
$ sudo insmod ./xsens_mt.ko
sudo ./mtsdk_linux-xxx-xxxx.x.x.sh
After installing the drivers, the USB dongle should automatically be mounted to ttyUSB. This can be verified using the dmesg command.
sudo dmesg | grep tty
If this is not the case any more after rebooting your system, consider adding a udev rule: Create a file called “95-xsens-ftdi.rules” in the folder /etc/udev/rules.d with the following contents:
sudo touch /etc/udev/rules.d/95-xsens-ftdi.rules
sudo nano /etc/udev/rules.d/95-xsens-ftdi.rules
past this and save it ctrl+w (you can use vim or other text editor
ACTION=="add" \
, ATTRS{idVendor}=="2639" \
, ATTRS{idProduct}=="0301" \
, RUN{builtin}+="kmod load ftdi_sio" \
, RUN+="/bin/sh -c 'echo 2639 0301 > /sys/bus/usb-serial/drivers/ftdi_sio/new_id'"
The device is recognized, but I cannot ever access the device Make sure you are in the correct group (often dialout or uucp) in order to access the device. You can test this with
$ ls -l /dev/ttyUSB0
crw-rw---- 1 root dialout 188, 0 May 6 16:21 /dev/ttyUSB0
$ groups
dialout audio video usb users plugdev
link libraries:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/xsens/lib
http://wiki.ros.org/xsens_mti_driver
Source the environment for each terminal you work in. If necessary, add the line to your .bashrc
source devel/setup.bash
roslaunch xsens_mti_driver xsens_mti_node.launch
i have created a sh script to lounch it directly from home: run
./run_xsens.sh
modify the properties of the data format of the node here:
/home/usuario/catkin_ws/src/xsens_ros_mti_driver/param
imu/data (sensor_msgs/Imu) quaternion, angular velocity and linear acceleration
imu/acceleration (geometry_msgs/Vector3Stamped) calibrated linear acceleration
imu/angular_velocity (geometry_msgs/Vector3Stamped) calibrated angular velocity
imu/mag (geometry_msgs/Vector3Stamped) calibrated magnetic field
imu/dq (geometry_msgs/QuaternionStamped) integrated angular velocity from sensor (in quaternion representation)
imu/dv (geometry_msgs/Vector3Stamped) integrated linear acceleration from sensor
imu/time_ref (sensor_msgs/TimeReference) timestamp from device
filter/quaternion (geometry_msgs/QuaternionStamped) quaternion from filter
filter/free_acceleration (geometry_msgs/Vector3Stamped) linear acceleration from filter
filter/twist (geometry_msgs/TwistStamped) velocity and angular velocity
filter/positionlla (geometry_msgs/Vector3Stamped) (MTSS2019.3.2 and later) filtered position output in latitude (x), longitude (y) and altitude (z) as Vector3
filter/velocity (MTSS2019.3.2 and later) filtered velocity output as Vector3
temperature (sensor_msgs/Temperature) temperature from device
pressure (sensor_msgs/FluidPressure) barometric pressure from device
gnss (sensor_msgs/NavSatFix) raw 4 Hz latitude, longitude, altitude and status data from GNSS receiver
tf (geometry_msgs/TransformStamped) transformed orientation
c++ node files saved here:
/home/usuario/catkin_ws/src/xsens_ros_mti_driver/src
Building:
-
Copy xsens_ros_mti_driver folder from your MT SDK directory into your catkin workspace 'src' folder. Make sure the permissions are set to o+rw on your files and directories.
-
Build xspublic from your catkin workspace:
$ pushd src/xsens_ros_mti_driver/lib/xspublic && make && popd
- Build Xsens MTi driver package:
$ catkin_make
- Source workspace:
$ source devel/setup.bash
Running:
-
Configure your MTi device to output desired data (e.g. for display example - orientation output)
-
Launch the Xsens MTi driver from your catkin workspace:
$ roslaunch xsens_mti_driver xsens_mti_node.launch
After the device has been detected, you can communicate with it from another process / terminal window.
For example:
$ rostopic echo /filter/quaternion
header: seq: 1386351 stamp: secs: 1545223809 nsecs: 197252179 frame_id: "imu_link" quaternion: x: 0.00276306713931 y: 0.00036825647112 z: -0.89693570137 w: -0.442152231932
- There is also an example that shows a 3D visualization of the device (orientation data should be enabled in the device):
$ roslaunch xsens_mti_driver display.launch
Download the correct configuration in .txt format from the website indicated by Giorgi.
https://www.ardusimple.com/configuration-files/
The ARDUSIMPLE Bluetooth configuration with firmware version 1.32 is the one of our interest. Load the configuration after connecting and activating the Ardusimple to the computer via the interface.
Ensure all cables are correctly connected. Make sure the Ardusimple is connected to the computer. Before configuring the hotspot, connect the computer to the Wi-Fi network created by the board, which will be named "ESP XBEE". This connection is necessary to access the IP address 192.168.4.1.
Access the specific IP address 192.168.4.1 through the Chrome browser. Configure your phone's hotspot to provide the web page with the Wi-Fi credentials of the mobile phone (network name and password). Press the 'Enter' key in the center of the page.
After connection, the board will be ready to receive data. The LEDs on the ESP32 socket will display signals: Flashing blue LEDs indicate activity. The red LED indicates an internet connection. The green LED lights up when the GNSS antenna sees the LLeida antenna, improving signal accuracy.
The board is acquired through a serial connection. Connect the board to the computer via USB. Identify the name of the serial port, which is often "dev/tty". In the Python code, there is a loop that checks which material is transmitting and on which port to listen.
your release:
dpkg -l | grep 'nvidia-l4t-core'
want CUDA drivers:
sudo apt-get install nvidia-l4t-cuda
or:
sudo apt update
sudo apt-get install nvidia-l4t-core
description
other
install.sh
• [thing] : descriptio
- new : other
- Describe any prerequisites, libraries, OS version, etc., needed before installing program.
- ex. Windows 10
- How/where to download your program
- Any modifications needed to be made to files/folders
- How to run the program
- Step-by-step bullets
code blocks for commands
Any advise for common problems or issues.
command to run if program contains helper info
Contributors names and contact info
ex. Bernardo Lanza
ex. @DomPizzie
- 0.2
- Various bug fixes and optimizations
- See commit change or See release history
- 0.1
- Initial Release
This project is licensed under the [NAME HERE] License - see the LICENSE.md file for details
Inspiration, code snippets, etc.