Supported Sensors

XSens MTi-G-700 Series

xsens-mt
V2.0.0-b.1
USB
60

PolySync Configuration

  • Define the node in the SDF Configurator
  • Parse the sensor identifier from the connected hardware device
  • Copy the Sensor 0 Identifier (serial number) into the SDF Configurator
  • Run the Dynamic Driver interface It is required to have a Device Manager (udev) entry in the /etc/udev/rules.d/ directory for this node to run - see Debugging Tips below. It is required that the PolySync Manager is running in the background in order to parse the serial number, and communicate with the sensor.

Driver Notes

  • Xsens supplies a unique software key with each device - this must be stored in the Software Key field in the SDF Configurator (See Debugging at the bottom of this page)
  • See polysync_control.h for valid field usage
  • Requires UDEV entry in /etc/udev/rules.d/
  • Default baud rate is 115200, for the device and for the PolySync driver
  • -t perform a validation test on the XSens MT interface [optional]
  • -g will get all available XSens MT device identifiers that can be found on the host [optional]

Input Message Types

Input Message Type Input Message Note
Native USB Uses libxsens utilities that ship with PolySync release packages

Output Message Types

Output Message Type Output Message Note
ps_platform_motion_msg GPS/IMU data available

Command Line Arguments

Flag Description
-h Show this help message [optional]
-o Enable output of log messages to stdout (in addition to syslog) [optional]
-w Disable the hardware interface(s), allowing the node to run without hardware connected [optional]
-r SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
-n SDF node configuration key for the node [required]
-i Use provided PAL interface file instead of what is stored in the SDF [optional]
-e Export a JSON support string describing the interface, used by the SDF configuration tool [optional]
-t Perform a validation test on the XSens MT interface [optional]
-g Get all available XSens MT device identifiers on the host [optional]

Sensor Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 0 Must be parsed with the -g Dynamic Driver interface flag

IO Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 0 Must be parsed with the -g Dynamic Driver interface flag

Node Configuration Parameters

Parameter ID Description Value Type Values Notes
800 Active Coordinate Frame Identifier 1 4 Defaults to the vehicle centered reference coordinate frame, value (4)

Sensor Notes

Debugging Tips To parse the sensor identifier from the Xsens the PolySync Manager needs to be running to manage the wall clock.

`$ polysync-core-manager`

If you see the following error it’s best to verify the UDEV file is installed to the system that is required by the Xsens device on Linux systems

ERROR : XSENS_MT : XSENS_MT_pre_validate - no devices found

The UDEV file ships with PolySync and is located in $PSYNC_HOME/deps/92-xsens.rules. The file needs to be copied to the system /etc/udev/rules.d/.

$ sudo cp $PSYNC_HOME/deps/92-xsens.rules /etc/udev/rules.d/

It’s also very important that the current user is part of the dialout group, which allows access to the USB device.

$ whoami
dev
$ sudo adduser dev dialout

The last requirement to connect to the Xsens is that the PolySync SDF contains the Sensor 0 Identifier that uniquely describes the connected device. See this article for more information on parsing the sensor identifier using the PolySync Dynamic Driver. XSens MTi-G-710 Some Linux users reported that the MTi-G-710 model required additional steps to access the device through PolySync. Please follow the steps below to build and install the MT SDK libraries.

$ cd /usr/local/polysync/deps/
$ mkdir xsens-tmp
$ cd xsens-tmp
$ cp ../mfmsdk_mtm_mtsdk_linux_4.2.1_beta.zip .
$ unzip mfmsdk_mtm_mtsdk_linux_4.2.1_beta.zip
$ tar xf mtsdk_linux_69.tar.gz
$ cd mtsdk/shared_object
$ make
$ sudo make system_install