ROS driver for the Xsens (rebranded as Movella) MTw Awinda Kit. Xsens SDK 4.6.

Please consider the xsens_mtw_driver_ros2 for ROS2.

• Connect the Awinda Station USB in your computer and run: ros2 run xsens_mtw_driver awinda_manager

• Undock the MTW sensor and wait until the wireless connection being established:

[ INFO] [1565393292.619168658]: Waiting for MTW to wirelessly connect...
[ INFO] [1565393436.611962400]: EVENT: MTW Connected -> 00342322
[ INFO] [1565393436.615162761]: Number of connected MTWs: 1. Press 'y' to start measurement or 'q' to end node.

• Each MTw sensor will connect at once. Remember, as described on the Xsens MTw User Manual:

• Make sure you are in the correct group:

$ ls -l /dev/ttyUSB0

crw-rw---- 1 root dialout 188, 0 May  6 16:21 /dev/ttyUSB0

$ groups

"username" adm cdrom sudo dip plugdev lpadmin sambashare

• Add yourself to the group:

$ sudo usermod -G dialout -a $USER
$ newgrp dialout

• XSens MTI driver reference: xsens_mti_driver page