438 integrate xsens imu by geurto · Pull Request #441 · alliander-opensource/alliander-robotics

geurto · 2026-04-10T13:49:52Z

Description

This PR adds the alliander_xsens package, which integrates the Xsens IMU.

Imu platform added
Xsens driver node added
IMU bridge added to bridge topics for madgwick filter (optional for future IMUs)
Madgwick filter added to obtain heading estimate from magnetic field + angular velocity + linear acceleration measurements (optional for future IMUs)
(downsampled) mesh added for Xsens IMU, along with URDF

Fixes: #438

Testing

Tested in simulation to ensure URDF/mesh is correct
Tested with hardware on laptop
Tested with hardware on PAnther

Documentation

I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

…tory to Rviz Signed-off-by: Peter Geurts <peter.geurts@proton.me>

… location with more obstacles; increased inflation radius and decreased cost scaling factor to make falloff costs smoother Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

…data on your laptop Signed-off-by: Peter Geurts <peter.geurts@proton.me>

…emapped topic in odometry Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Signed-off-by: Peter Geurts <25298249+geurto@users.noreply.github.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

…o back to pytest.fail and trigger more often Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Bumps [lxml](https://github.com/lxml/lxml) from 6.0.2 to 6.1.0. - [Release notes](https://github.com/lxml/lxml/releases) - [Changelog](https://github.com/lxml/lxml/blob/master/CHANGES.txt) - [Commits](lxml/lxml@lxml-6.0.2...lxml-6.1.0) --- updated-dependencies: - dependency-name: lxml dependency-version: 6.1.0 dependency-type: indirect ... Signed-off-by: dependabot[bot] <support@github.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Bumps [python-multipart](https://github.com/Kludex/python-multipart) from 0.0.22 to 0.0.26. - [Release notes](https://github.com/Kludex/python-multipart/releases) - [Changelog](https://github.com/Kludex/python-multipart/blob/main/CHANGELOG.md) - [Commits](Kludex/python-multipart@0.0.22...0.0.26) --- updated-dependencies: - dependency-name: python-multipart dependency-version: 0.0.26 dependency-type: indirect ... Signed-off-by: dependabot[bot] <support@github.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Bumps [pytest](https://github.com/pytest-dev/pytest) from 9.0.2 to 9.0.3. - [Release notes](https://github.com/pytest-dev/pytest/releases) - [Changelog](https://github.com/pytest-dev/pytest/blob/main/CHANGELOG.rst) - [Commits](pytest-dev/pytest@9.0.2...9.0.3) --- updated-dependencies: - dependency-name: pytest dependency-version: 9.0.3 dependency-type: direct:development ... Signed-off-by: dependabot[bot] <support@github.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

* Add Meta platform to our system. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * First teleoperation. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Rewrite teleoperation python node to CPP meta manager node. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Use meta as flag, not as platform. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Add support for GUI debugging using dev container. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Tune servo params. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Switch to meta_quest_reader package. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Switch to ppadb-reborn that includes fixes for escape sequences. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Add scrcpy to stream quest. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Start other containers only when meta launches correctly. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Fix linting. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Fix configuration, to support Meta, Joystick and GUI. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Set servo command type from joystick manager and meta manager. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Add documentation. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Undo scale changes in servo params. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> * Apply feedback. Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> --------- Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

…cmd_vel_final to cause no confusion Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Signed-off-by: Peter Geurts <25298249+geurto@users.noreply.github.com>

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

rosalievanark · 2026-05-01T08:03:11Z

 ]
+alliander-xsens = [
+    "matplotlib>=3.10.9",
+    "pyserial>=3.5",


Does pyserial still need to be added here when it's also already added to the project dependencies at the top of this file?

rosalievanark · 2026-05-01T12:09:21Z

+
+    @staticmethod
+    def add_imu(_platform: IMU) -> None:
+        """Add IMU configurtions to Rviz and Vizanti. Currently not implemented.


Should this be made into a ticket because it's currently not implemented? It's a bit inconsistent that we have an error for "not implemented" and we bypass this, with the additional comment being "not implemented".

The NotImplementedError crashes the container, which I don't want. There is an rviz_imu_plugin available, but Rviz cannot handle the data rates. I found just echoing ROS2 topics just as useful for debugging. If there is a use case in the future for this, it could be worth integrating the rviz_imu_plugin.

rosalievanark · 2026-05-01T12:10:32Z

@@ -0,0 +1,270 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0


Can you add the source of this yaml file on top here? Like we also do in some other files, Based on: ...

rosalievanark · 2026-05-01T12:37:55Z

+# Install python dependencies:
+WORKDIR $WORKDIR
+COPY pyproject.toml /$WORKDIR/pyproject.toml
+RUN uv sync \


If you don't add alliander-xsens then it either can be removed from pyproject.toml or it should be added here right?

rosalievanark · 2026-05-01T12:57:05Z

            ip_address="10.15.20.5",
        )
        gps = GPS("gps", position=(-0.08, -0.25, 0.2), orientation=(0, 0, -90))
+        imu = IMU("xsens", position=(-0.23, -0.08, 0.18), orientation=(0, 0, 180))


Should the IMU also already be added to more configurations?

I added this one because I'm using it for Panther testing, if other use cases need an IMU I will add it once we work on them

rosalievanark · 2026-05-01T13:12:11Z

@@ -0,0 +1,161 @@
+#!/usr/bin/env python3


Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Jelmerdw · 2026-05-05T07:26:12Z


 # Shared folders:
 install(
-  DIRECTORY franka husarion ouster velodyne realsense zed nmea_gps


Did you want alphabetic order? (If so, we should swap velodyne and realsense).

Jelmerdw · 2026-05-05T07:33:58Z

I didn't know this test was in alliander_nav2. I think all other tests are in alliander_tests? Should we move this file?

Jelmerdw

We could also consider removing the NotImplementedError and just pass by default. Since not all platforms require special RViz configurations.

geurto linked an issue Apr 10, 2026 that may be closed by this pull request

Integrate Xsens IMU #438

Open

4 tasks

geurto force-pushed the 438-integrate-xsens-imu branch from 280f663 to c509014 Compare April 30, 2026 14:32

geurto and others added 28 commits April 30, 2026 16:34

added imu_bridge node

1d64b95

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

added mesh & urdf

2c9eae6

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

fixed linting errors

ec6a207

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

added license file

4080cab

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

switched to SmacPlanner2D; first tuning of mppi; added vehicle trajec…

d135898

…tory to Rviz Signed-off-by: Peter Geurts <peter.geurts@proton.me>

removed superfluous target_frame="" in lidar launches; changed map to…

f61864b

… location with more obstacles; increased inflation radius and decreased cost scaling factor to make falloff costs smoother Signed-off-by: Peter Geurts <peter.geurts@proton.me>

added local costmap; tuned parameters

e386b57

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

updated velodyne position on panther

2ac049d

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

added realsense to panther_gps_navigation; updated camera/gps positions

563b0d8

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

changed gps hardware frame

e7d69ed

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

qol

4607651

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

qol

bab209f

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

allow partial planning

edcd232

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

qol

dea82f8

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

added rviz.yml option to start.py, useful for visualizing (live) ros …

ee75755

…data on your laptop Signed-off-by: Peter Geurts <peter.geurts@proton.me>

added odometry to rviz; changed map to satellite tiles from google; r…

9d0e854

…emapped topic in odometry Signed-off-by: Peter Geurts <peter.geurts@proton.me>

moved gps ekf/navsat params to own file

61b1788

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

noqa on method count in Rviz

ce87a62

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

following panther docs enu_localization_with_gps more

a287610

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

spawn panther at an angle

04e8862

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

docs

1183a71

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Update start.py

adc50b0

Signed-off-by: Peter Geurts <25298249+geurto@users.noreply.github.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Test only nav2 navigation, replace raise with pytest.fail

f2a749b

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Add more logs

4987820

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Try to trigger test error with old test

a632d4d

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Managed to trigger timeout error so only testing this file is fine, g…

782c3fc

…o back to pytest.fail and trigger more often Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Assert timeout instead of raising, and add wait_for_node_active

8b11797

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Update some linting and trigger test 50 times

be7cd8e

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

geurto and others added 7 commits April 30, 2026 16:34

ignore imu in tool manager

fedb046

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Build and use branch tagged images when alliander_core is changed.

96ce9e5

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

Fix bug that appeared for collision monitor, and change /cmd_vel to /…

0ca29e9

…cmd_vel_final to cause no confusion Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Peter Geurts <peter.geurts@proton.me>

geurto force-pushed the 438-integrate-xsens-imu branch from c509014 to 0ca29e9 Compare April 30, 2026 14:35

Merge branch 'main' into 438-integrate-xsens-imu

d878bf1

Signed-off-by: Peter Geurts <25298249+geurto@users.noreply.github.com>

geurto marked this pull request as ready for review April 30, 2026 14:38

geurto requested review from Jelmerdw and rosalievanark April 30, 2026 14:38

geurto added 2 commits April 30, 2026 16:48

fixed uv.lock; added documentation

df77e46

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

fix

60d7f5d

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

geurto marked this pull request as draft April 30, 2026 14:55

linting

b5d7907

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

geurto marked this pull request as ready for review April 30, 2026 15:01

fixed tests locally

d930739

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

rosalievanark reviewed May 1, 2026

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rosalievanark approved these changes May 4, 2026

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geurto added 2 commits May 4, 2026 14:24

updates based on PR

26002d6

Signed-off-by: Peter Geurts <peter.geurts@proton.me>

linting

7bcf3a3

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Jelmerdw approved these changes May 5, 2026

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geurto commented Apr 10, 2026

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