硬件设置

Xsens IMU 使用 

参考：https://www.freesion.com/article/31151176449/#xsensdriverimu_1

使用XSENS-DRIVER读取IMU数据

1. 驱动安装
   sudo apt-get install ros-melodic-xsens-driver
2. 修改访问MTI设备的权限，ttyUSB0换成你的设备号
   sudo chmod 777 /dev/ttyUSB0
3. 启动MTI
   roslaunch xsens_driver xsens_driver.launch

这个xsens_driver 打印的topic list 如下：

XSENS_ROS_MTI_DRIVER使用

编译xsens_ros_mti_driver ROS版本：

cp /usr/local/xsens/xsens_ros_mti_driver ~/catkin_ws/src/
pushd ~/catkin_ws/src/xsens_ros_mti_driver/lib/xspublic && make && popd
cd ~/catkin_ws
catkin_make
source devel/setup.bash
#以下用其一：
roslaunch xsens_mti_driver display.launch
roslaunch xsens_mti_driver example.launch

xsens_mti_driver node发布的topic list

display.launch打开的rviz界面：

Xsens传感器使用笔记

https://blog.csdn.net/weixin_44423355/article/details/105869072