Install the MTi USB Serial Driver

$ git clone https://github.com/xsens/xsens_mt.git
$ cd ~/xsens_mt
$ make
$ sudo modprobe usbserial
$ sudo insmod ./xsens_mt.ko

Install gps_common

$ sudo apt-get install ros-distro-gps-common

The Mti1 (Motion Tracker Development Board) is not recognized. Support for the Development Board is present in recent kernels. (Since June 12, 2015).If your kernel does not support the Board, you can add this manually

$ sudo /sbin/modprobe ftdi_sio $ echo 2639 0300 | sudo tee /sys/bus/usb-serial/drivers/ftdi_sio/new_id

The device is recognized, but I cannot ever access the device Make sure you are in the correct group (often dialout or uucp) in order to access the device. You can test this with

  $ ls -l /dev/ttyUSB0
  crw-rw---- 1 root dialout 188, 0 May  6 16:21 /dev/ttyUSB0
  $ groups
  dialout audio video usb users plugdev

If you aren't in the correct group, you can fix this in two ways.

1. Add yourself to the correct group You can add yourself to it by using your distributions user management tool, or call

    $ sudo usermod -G dialout -a $USER
   

   Be sure to replace dialout with the actual group name if it is different. After adding yourself to the group, either relogin to your user, or call

    $ newgrp dialout
   

   to add the current terminal session to the group.

2. Use udev rules Alternatively, put the following rule into /etc/udev/rules.d/99-custom.rules

    SUBSYSTEM=="tty", ATTRS{idVendor}=="2639", ACTION=="add", GROUP="$GROUP", MODE="0660"
   

   Change $GROUP into your desired group (e.g. adm, plugdev, or usb).

The device is inaccessible for a while after plugging it in When having problems with the device being busy the first 20 seconds after plugin, purge the modemmanager application.