XSens Dot ROS 2

This package provides a ROS 2 interface for the XSens Dot PC SDK, enabling communication with XSens Dot devices. It allows users to access sensor data and control the devices through ROS 2 topics and services.

Build and installation

To build and install the package, follow these steps:

dhb

And select the Dockerfile to build.

Usage

To use the XSens Dot ROS 2 package, enable the bluetooth and dbus services in the docker container by running the following command:

dhr -v /var/run/dbus:/var/run/dbus -v /run/dbus:/run/dbus

Add --cyclone if you want to use the cyclone DDS:

dhr -v /var/run/dbus:/var/run/dbus -v /run/dbus:/run/dbus --cyclone

Launch the XSens dot streaming:

ros2 launch xsens_dot_ros2 stream.launch.py

Remap Device IDs

To remap the device IDs, you can set in the remapping of the device IDs. The remapping is done by specifying the original device ID and the new device ID in the following format:

original_device_id: new_device_id

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