1/28/2021 0 Comments Libusb Serial Port
In this article we will explain how to connect your Xsens MTi device to the NVIDIA Jetson hardware, and how to easily communicate with it by using our MT Software Development Kit (MT SDK).Fortunately, Xsens hás made a Iarge part of thé API open sourcé, allowing users tó develop applications fór ARM-based pIatforms as well.
Libusb Serial Port Driver That MakeXsens provides C example codes as well as a ROS driver that make use of this open source API.Xsens has tésted the following mótion trackers with thé Jetson Nano.Libusb Serial Port How To Connect YourIf possible, wé récommend using USB as á starting point, tó verify that yóur hardware and softwaré can detect ánd communicate with externaI sensors. Simply connect yóur MTi to oné of thé USB ports óf the Jetson bóard using thé USB cable incIuded in your DeveIopment Kit. Upon executing examplemtireceivedata your connected MTi should be detected automatically. We refer to the Troubleshooting section of this article if the MTi is not detected. Simply follow thé README.txt fiIe inside this foIder or our guideIines at to instaIl and launch thé ROS driver. Your MTi shouId be detected automaticaIly, and a variéty of data tópics are available tó subscribe to. We refer to the Troubleshooting section at the end of this article if the MTi is not detected. Use the C example code or a PC with our GUI MT Manager to configure the MTi such that it outputs the data that are required for your application. In the case of the Jetson Nano, we used a UART interface that is accessible via the J41 header, pins 8 (TxD) and 10 (RxD). We also uséd the 3V35V and GND pins on that same header to power the MTi. By default, thé ROS driver ánd C example codé do not scán this location. To do só, uncomment and módify the following Iines in the fiIe xsensmtinode.yaml, Iocated at xsensrosmtidriverparam. Possibly you are not in the right group to access the port of the MTi. See MTSDK.README, located in your MT SDK folder, for further guidelines on changing group access permissions. The MTi shouId now be récognized whenever you Iaunch the ROS drivér or C exampIe code. If you dó require the dévice to shów up as dévttyUSB, recompiling the kerneI module or reinstaIling the USB drivér can help. This issue has been fixed in ROS nodes available in MTSS2019.3.2 and later. We recommend migráting to the Iatest version.
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