ubuntu 16.04 配置xsens imu使用环境

一 相关依赖安装

sudo apt-get install build-essential cmake libeigen3-dev libqt4-dev libqt4-opengl-dev freeglut3-dev gnuplot
sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-kinetic-vision-opencv ros-kinetic-image-transport-plugins ros-kinetic-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev

二 imu驱动安装

sudo apt-get update
sudo apt-get install ros-kinetic-xsens-driver

三 配置imu

插上imu后先赋权限

sudo chmod 777 /dev/ttyUSB*

然后设置输出四元数，加速度、角速度、地磁

cd /opt/ros/kinetic/lib/xsens_driver
python mtdevice.py --configure "oq,aa,wr,mf"

会显示 Changing output configuration  Ok

四 启动imu驱动查看数据

roslaunch xse