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

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

Topics published:

/xsens/data - sensor_msgs/Imu - in Local earth frame
/xsens/data_sensor_frame - sensor_msgs/Imu - in Sensor (or Object) fixed frame. Angular velocity has been converted from deltaq to xyz format, including a time component
/xsens/angular_velocity_deltaq - geometry_msgs/QuaternionStamped - in sensor (or Object) fixed frame, angular velocity (delta quaternion)
/xsens/fix - gps_common/GPSFix
/xsens/vel - geometry_msgs/TwistStamped
/xsens/data_str - std_msgs/String
/xsens/time - sensor_msgs/TimeReference
/xsens/navsat - sensor_msgs/NavSatFix
/xsens/mag - sensor_msgs/MagneticField
/xsens/temp - sensor_msgs/Temperature
/xsens/pressure - sensor_msgs/FluidPressure
/xsens/ecef - geometry_msgs/PointStamped