Interface library for a Crossbow DMU-6X-003
This interface is heavily based on David Hodo interface library for Crossbow IMU440 and also in Mobility software developed by Robert T Pack, Steve Clark, Mike Davis and Tyson D. Sawyer for Real World Interface Inc.
Requires the serial library. Last tested for version 1.2.1.
Tested on ROS Kinetic.
Communication with Crossbow DMU-6X-003 is done through RS-232, so you will need a compatible serial adaptor.
Clone xbow6x package to your catkin workspace and compile it.
Connect the adaptor to the Crossbow and check the correspondent serial port, in my case is /dev/ttyUSB1. You can check serial ports by running:
dmesg | grep tty
If it is a different one change the serialPort argument in xbow6x/launch/xbow6x.launch.
Give the following permissions to your serial port by running:
sudo chmod 666 /dev/ttyUSB1
As a permanent alternative it is possible to set udev rules for your serial adaptor.