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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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Using the IMU – Xsens MTi

In the following image, you can see the Xsens MTi, which is the sensor used in this section:

Using the IMU – Xsens MTi

Xsens Mti

Xsens IMU is a typical inertial sensor that you can find in a robot. In this section, you will learn how to use it in ROS and how to use the topics published by the sensor.

You can use a lot of IMU devices with ROS such as the Razor IMU that we have used before. In this section, we will use the Xsens IMU, which is necessary to install the right drivers. But if you want to use MicroStrain 3DM-GX2 or Wiimote with Wii Motion Plus, you need to download the following drivers:

Note

The drivers for the MicroStrain 3DM-GX2 IMU are ...

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