xsens-mti-lib

README

Xsens MTi Library

Library and utilities for connecting to Xsens MTi series IMUs.

Steps to compile in canon:

sudo apt install -y swig
make clean sdk swig build

(you can just run make build after the first time)

Steps to run:

./bin/xsens-mti-lib

Configuration

Make sure your serial number in your config attributes matches the serial number on the IMU Configure a local module on your robot with the path to the run.sh in the modules section of the configuration builder.

{
"components":
    {
    "model" "viam:sensor:mti-xsens-200",
    "name": "nameItSomething",
    "namespace": "rdk",
    "type": "movement_sensor"
    "attributes" : {
      "serial_path*": "/dev/somethingorother",
      "serial_baud_rate": int, // optional
      "serial_number": "string" // important, check the serial number on the PHYSICAL device and input it here.
      }
    }
  ],
  "modules": [
    {
      "name": "xsens",
      "executable_path": "/path/to/run.sh",
      "type": "local"
    }
}