xsens启动报错:[ERROR] [1711675469.969344120]: No MTi device found.
问题描述
正常安装好Xsens IMU ROS驱动后,进入工作空间,运行下面的代码:
source devel/setup.bash
roslaunch xsens_mti_driver xsens_mti_node.launch
终端输出:
[ERROR] [1711675469.969344120]: No MTi device found.
[xsens_mti_node-1] process has died [pid 720463, exit code 255, cmd /home/why/ChinaSShipC707/MMD/Data/IMU/xsens_ws/devel/lib/xsens_mti_driver/xsens_mti_node __name:=xsens_mti_node __log:=/home/why/.ros/log/e2798914-ed69-11ee-9cb5-6bb9afec5efd/xsens_mti_node-1.log].
log file: /home/why/.ros/log/e2798914-ed69-11ee-9cb5-6bb9afec5efd/xsens_mti_node-1.log
解决方案:
方法一:设置xsens IMU的USB权限
在终端输入:
sudo chmod 777 /dev/ttyUSB0
然后重新运行
source devel/setup.bash
roslaunch xsens_mti_driver xsens_mti_node.launch
方法二:关闭roscore
在终端输入:
pgrep -f roscore
这将返回 roscore 的 PID。然后,你可以使用 kill 命令来杀死这个进程:
kill -9 <PID>
然后重新运行
source devel/setup.bash
roslaunch xsens_mti_driver xsens_mti_node.launch