XSens MTi-G-700 Series

  • Interface Name

    xsens-mt

  • Supported Since

    V2.0.0-b.1

  • Sensor Communication Protocol

    USB

  • PolySync Sensor Type

    60

  • PolySync Configuration

    * [Define the node](https://help.polysync.io/releases/2.0.8//articles/add-a-sensor-node/) in the SDF Configurator
    * [Parse the sensor identifier](https://help.polysync.io/releases/2.0.8//articles/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](https://help.polysync.io/releases/2.0.8//articles/manually-starting-nodes/)

    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
    N/A N/A N/A N/A
  • 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.

    “`bash
    `$ polysync-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

    “`bash
    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/.

    “`bash
    $ 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.

    “`bash
    $ 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](LINK) 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.

    “`bash
    $ 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
    “`