The article can be accessed through mdpi

rosrun vectornav vn200_node _serial_port:=/dev/ttyAMA0 _target_baud:=460800 _binary_data_output_port:=2 _binary_ins_data_output_rate:=400
gdb rosrun vectornav vn200_node _serial_port:=/dev/ttyAMA0 _target_baud:=460800 _binary_data_output_port:=2 _binary_ins_data_output_rate:=400
rostopic echo /vectornav/imugps
rostopic hz /vectornav/imugps
rostopic info /vectornav/imugps
ps aux
sudo killall python
sudo killall screen
sudo killall tee
rostopic echo --filter=m.header.seq%200==0 /vectornav/imugps

Device name	HTC219-720-SPC
Full device name	HTC219-720-SPC.ad.tuni.fi
Processor	Intel(R) Core(TM) i7-6700 CPU @ 3.40GHz   3.41 GHz
Installed RAM	32,0 GB
Device ID	bbbf3aca-47cd-4ad8-9fd0-ad23414388c6
Product ID	00329-00000-00003-AA689
System type	64-bit operating system, x64-based processor
Pen and touch	No pen or touch input is available for this display

Test repo for matab: D:\(...BackupDdrive)\(..RA)\....PAVEL\MATLAB-APP\test

• In matlab folder, create folder name ${subjectID}_out, for example O1_out

• The directory should include these files:

  • 2022-XX-XX-XX-XX-XX_s.txt (sliced ID's gaitpod file)
  • OXYGAX_marker_XXXX_s.txt(sliced ID'oxygen file)
  • run.m executable file run the everything
  • features_OK.m
  • velSeg.m
  • input_features.m
  • trainingPartitions.m

• At the begging run.mat, change subjectID and change sortedInputFeatures to true if want output input features in ordet (false by default) and run the file

• After about 5 mins it will produce input feature file

This section describes the basic usage of the device

• The Xsens IMU units are currently connected through the USB ports and should be connected before powering the device.
• GPS is connected to the UART pins. The device is enumerated as /dev/ttyAMA0 on RPi and /dev/ttyS4 on minnowboard and uses 57600 baud. This all is configured in the ROS launch files.
• It is recommended that the ethernet cable is plugged to a router which will assign an IP address to the device (unless using 3G), currently the OS has issues if you switch to a different router while the device is powered?
• The device gets time from internet, so logs are dated to 1970 or some other wrong time if no internet connection has been available before starting measurements

• The device is powered by the powerbank from the USB connector. The runtime with this seems to be around 3-4 h for RPi and 2,5 h for minnowboard.

• The measurement mode is activated in the boot
• Primary led will flash when time is corrected from interney
• The device will start recording as soon as it loses internet connectivity
• It might take a few minutes to start the measurements, if there are errors with gps or imu. Device will try again until everything works.
• Primary led will flash when making IMU alignment, so IMU should be stationary that time and a bit after.
• It seems, the IMU wont start if it has been stationary for some time (MTw wired), so light shake might be needed before use.
• When recording, primary led will be lit.
• Recording will be stopped once the internet connectivity is restored.
• After being stopped, the files will be uploaded to Google Drive (tutopenkin@gmail.com)

• The power switch on top can be flipped to give shutdown commands to the unit.
• After flipping the switch and waiting some seconds, the USB cable powering the device can be unplugged.

Standard SSH conenction can be made to the device with ssh:

ssh ubuntu@[IP]
Password: ubuntu

For RPi with kinetic user: pi, password: raspberry For minnowboard user: openkin, password: openkin

ROS Driver for XSens MT/MTi/MTi-G devices.

See: http://ros.org/wiki/ethzasl_xsens_driver

ROS driver for ublox

See: https://github.com/KumarRobotics/ublox

Pozyx Arduino library

See: https://github.com/pozyxLabs/Pozyx-Arduino-library

All are added as subtrees to this repo, so updates can be fetched with commands (from git root):

git subtree pull --prefix nodes/ublox https://github.com/KumarRobotics/ublox.git master --squash

,

git subtree pull --prefix nodes/ethzasl_xsens_driver https://github.com/ethz-asl/ethzasl_xsens_driver.git master --squash

and

git subtree pull --prefix nodes/pozyx/include/Pozyx-custom-library/ https://github.com/pozyxLabs/Pozyx-Arduino-library.git master --squash
cd nodes/pozyx/ínclude
patch -p0 < pozyx-arduino-to-linux.patch

http://msthub.ain.rd.tut.fi/mobilemachines/motion_fusion/blob/master/src/KalmanImu.py

The measurements are started by running ~/openkin/start_script.sh, which in turn calls the main script at ~/openkin/measurement.sh using locks. The script now starts from /etc/rc.local, with lockfile at /home/ubuntu/measurement.lock and as user ubuntu (or pi or openkin).

... can be found in Google Docs with the tutopenkin@gmail.com -account.