ROS Programming: Building Powerful Robots

How does Xsens send data in ROS?

If everything is fine, you can see the topic list by using the rostopic command:

    $ rostopic list
  

The node will publish three topics. We will work with /imu/data in this section. First of all, we are going to see the type and the data sent by this topic. To see the type and the fields, use the following command lines:

    $ rostopic type /imu/data
    $ rostopic type /imu/data | rosmsg show
  

The /imu/data topic is sensor_msg/Imu. The fields are used to indicate the orientation, acceleration, and velocity. In our example, we will use the orientation field. Check a message to see a real example of the data sent. You can do it with the following command:

    $ rostopic echo /imu/data
  

You will see something similar to ...