ROS2-TL

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Installation of available sensors in ROS2 Humble

1 🧭 Xsens MTi IMU Sensor

This guide provides a clear and concise setup for integrating an Xsens MTi IMU sensor with ROS 2 Humble using the xsens_mti_ros2_driver package. It includes installation steps, configuration, usage instructions, and troubleshooting tips based on real-world debugging.

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📦 Requirements

To use the Xsens MTi IMU with ROS 2 Humble, ensure you have the following:

• ROS 2 Humble installed on your system (Ubuntu 22.04 recommended).
• A Colcon workspace (e.g., ~/botdev).
• An Xsens MTi sensor (e.g., MTi-1, MTi-3, MTi-7, or MTi-600 series).
• A USB cable or USB-to-Serial adapter (e.g., PL2303, FTDI) for connecting the sensor.
• External power supply for UART-only sensors (if applicable).
• Basic dependencies: ros-humble-ros-base, python3-colcon-common-extensions.

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🚀 Installation

Follow these steps to set up the xsens_mti_ros2_driver package in your ROS 2 workspace:

1. Navigate to your Colcon workspace:

   cd ~/ros2_ws/src

2. Clone the Xsens MTi ROS 2 driver repository:

   git clone https://github.com/fs-feup/xsens-imu.git

3. Install dependencies: Ensure all required ROS 2 dependencies are installed:

   sudo apt update
   sudo apt install ros-humble-ros-base python3-colcon-common-extensions

4. Build the workspace:

   cd ~/ros2_ws
   colcon build --symlink-install

5. Source the workspace:

   source ~/ros2_ws/install/setup.bash

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⚙️ Configuration

1. Connect the Xsens MTi sensor:

   • Plug the sensor into your computer via USB or a USB-to-Serial adapter.
   • For UART-only sensors, ensure an external power supply is connected.

2. Verify device detection: Check if the sensor is detected (e.g., as /dev/ttyUSB0):

   ls /dev/tty*

3. Set permissions (if needed): Grant access to the serial port:

   sudo chmod 666 /dev/ttyUSB0

4. Configure the sensor (optional):

   • Use the Xsens MT Manager software to set baud rates, output formats, or other sensor settings if required.
   • Ensure the sensor’s baud rate matches the driver’s configuration (default: 115200).

5. Update ROS parameters: Edit the driver’s configuration file (e.g., xsens_mti_ros2_driver/config/xsens_mti_node.yaml) to match your sensor’s port and settings:

   xsens_mti_node:
     ros__parameters:
       port: "/dev/ttyUSB0"
       baudrate: 115200
       frame_id: "imu_link"

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🏃 Running the Driver

1. Source the workspace (if not already done):

   source ~/ros2_ws/install/setup.bash

2. Launch the driver: Start the ROS 2 node for the Xsens MTi sensor:

   ros2 launch xsens_mti_ros2_driver xsens_mti_node.launch.py

3. Verify output: Check published topics (e.g., /imu/data, /imu/mag):

   ros2 topic list
   ros2 topic echo /imu/data

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🛠️ Troubleshooting

• No data on topics:

  • Verify the sensor is connected and powered.
  • Check the serial port and baud rate in the configuration file.
  • Ensure the correct permissions are set for the serial port.

• Serial port errors:

  • Run dmesg | grep tty to debug USB-to-Serial adapter issues.
  • Try a different USB port or adapter (e.g., FTDI instead of PL2303).
  • Edit the config file, set auto_detect to false and add your port ID through ls -l /dev/ttyUSB* and the baud rate

• Driver not building:

  • Ensure all dependencies are installed (rosdep install --from-paths src --ignore-src -r -y).

• Incorrect IMU data:

  • Calibrate the sensor using Xsens MT Manager.
  • Verify the frame_id and coordinate system in the configuration file.

For additional support, check the Xsens Support Portal or the driver’s GitHub Issues.

2. Sick TIM5xx LiDAR (sick_scan_xd)

Install and Build the Driver (ROS2 Humble and higher)

sudo apt update
sudo apt-get install ros-humble-sick-scan-xd
colcon build

Connect the LiDAR

• Connect your PC to the LiDAR via Ethernet.
• Set a static IP on your PC in the same subnet as the LiDAR.

Example:

sudo ip addr add 192.168.0.10/24 dev eth0

Launch the Driver

ros2 launch sick_scan_xd sick_tim_5xx.launch.py

Known Issues & Solutions

Issue: No data on /scan topic

Cause: Protocol mismatch (Binary vs ASCII)

Default Configuration: The driver expects binary protocol.

Fix Options:

Option 1: Set Scanner to Binary Mode

Use telnet:

telnet 192.168.0.1 2111

Option 2: Run Driver in ASCII Mode

If you prefer not to change the scanner:

ros2 launch sick_scan_xd sick_tim_5xx.launch.py use_binary_protocol:=false

Notes

• Ensure IP settings are correctly configured.
• Temporarily disable firewall for initial setup if needed.
• SOPAS Engineering Tool (Windows only) can help verify configuration.

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