How to setup IMU XSense MTI

Check the assigned USB device to the IMU using dmesg

[ 8808.219908] usb 3-3: new full-speed USB device number 28 using xhci_hcd
[ 8808.237513] usb 3-3: New USB device found, idVendor=2639, idProduct=0013
[ 8808.237522] usb 3-3: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 8808.237527] usb 3-3: Product: MTi-300 AHRS
[ 8808.237531] usb 3-3: Manufacturer: Xsens
[ 8808.237534] usb 3-3: SerialNumber: 03700715
[ 8808.265957] usbcore: registered new interface driver usbserial
[ 8808.265982] usbcore: registered new interface driver usbserial_generic
[ 8808.265999] usbserial: USB Serial support registered for generic
[ 8808.268037] usbcore: registered new interface driver xsens_mt
[ 8808.268048] usbserial: USB Serial support registered for xsens_mt
[ 8808.268063] xsens_mt 3-3:1.1: xsens_mt converter detected
[ 8808.268112] usb 3-3: xsens_mt converter now attached to ttyUSB0
  1. Change permissions of the device chmod a+rw /dev/ttyUSB0 Probably is USB0, change it accordingly to your setup
  2. In an Autoware sourced terminal execute: rosrun xsens_driver mtdevice.py -m 2 -f 100
    (this configures the IMU to publish raw data from the sensor at 100Hz)
    To publish data execute (in a sourced terminal):
    rosrun xsens_driver mtnode.py _device:=/dev/ttyUSB0 _baudrate:=115200
  3. Confirm data is actually coming using rostopic echo /imu_raw in a different terminal