ROS driver for the Xsens (rebranded as Movella) MTw Awinda Kit. Xsens SDK 4.6.
Please consider the xsens_mtw_driver_ros2 for ROS2.
-
Connect the Awinda Station USB in your computer and run:
ros2 run xsens_mtw_driver awinda_manager -
Undock the MTW sensor and wait until the wireless connection being established:
[ INFO] [1565393292.619168658]: Waiting for MTW to wirelessly connect...
[ INFO] [1565393436.611962400]: EVENT: MTW Connected -> 00342322
[ INFO] [1565393436.615162761]: Number of connected MTWs: 1. Press 'y' to start measurement or 'q' to end node.
- Each MTw sensor will connect at once. Remember, as described on the Xsens MTw User Manual:
| Number of sensors | Update rate (Hz) |
|---|---|
| 1 | 150 |
| 2 | 120 |
| 4 | 100 |
| 6 | 75 |
| 12 | 50 |
| 18 | 40 |
- Make sure you are in the correct group:
$ ls -l /dev/ttyUSB0
crw-rw---- 1 root dialout 188, 0 May 6 16:21 /dev/ttyUSB0
$ groups
"username" adm cdrom sudo dip plugdev lpadmin sambashare
- Add yourself to the group:
$ sudo usermod -G dialout -a $USER
$ newgrp dialout
- XSens MTI driver reference: xsens_mti_driver page