Node based on ROS(hydro) reading MTi data. Tested on Ubuntu 12.04LTS with the 3rd production of xsens MTi.

Open a terminal:

    $ sudo cd ~/catkin_ws/src
    $ git clone https://github.com/JJJJJJJack/xsens_reader.git
    $ cd ..
    $ catkin_make
    $ catkin_make install

Open a terminal:

     $ sudo su
     $ cd ~/catkin_ws
     $ source devel/setup.bash
     $ roscore

Open another terminal:

     $ sudo su
     $ cd ~/catkin_ws
     $ source devel
     $ rosrun xsens_reader xsens_reader -d /dev/ttyUSB0

Only for hydro I'm quite sorry that I'm still working on xsens_reader package compatible with other version of ROS.

Try USB1 USB2 if you can't connect to the port.

xsens_reader publishes the sensor_msgs::Imu message of "/xsens_data".

$ rostopic echo /xsens_data #to show the message of MTi.

/xsens_data(sensor_msgs/Imu) orientation, angular velocity, and linear acceleration.