├── MTi-680_Device_Settings.png ├── MTi-680_Output_Configuration.png ├── README.md └── src ├── ntrip ├── CMakeLists.txt ├── launch │ └── ntrip.launch ├── log │ ├── pub.txt │ └── rtcm.txt ├── package.xml └── src │ ├── client.cpp │ ├── cmake_definition.h │ ├── cmake_definition.h.in │ ├── mount_point.h │ ├── ntrip_client.cpp │ ├── ntrip_client.h │ ├── ntrip_util.cpp │ ├── ntrip_util.h │ └── thread_raii.h └── xsens_ros_mti_driver ├── CMakeLists.txt ├── LICENSE.txt ├── README.txt ├── include ├── ntrip_util.h ├── xdacallback.h ├── xdainterface.h ├── xsens_log_handler.h └── xsens_time_handler.h ├── launch ├── display.launch └── xsens_mti_node.launch ├── lib └── xspublic │ ├── Makefile │ ├── xscommon │ ├── Makefile │ ├── abstractadditionallogger.h │ ├── additionalloggerbase.cpp │ ├── additionalloggerbase.h │ ├── calltracer.h │ ├── common_qdebug.h │ ├── consolelogger.cpp │ ├── consolelogger.h │ ├── enumexpandersbase.cpp │ ├── enumexpandersbase.h │ ├── extendedenum.h │ ├── fwupdate.c │ ├── fwupdate.h │ ├── journalexception.cpp │ ├── journalexception.h │ ├── journalfile.cpp │ ├── journalfile.h │ ├── journaller.cpp │ ├── journaller.h │ ├── journalloglevel.h │ ├── journalstackwalker.h │ ├── journalthreader.cpp │ ├── journalthreader.h │ ├── stackdumper.cpp │ ├── stackdumper.h │ ├── stackwalker.cpp │ ├── stackwalker.h │ ├── stackwalker_linux.cpp │ ├── stackwalker_linux.h │ ├── threading.cpp │ ├── threading.h │ ├── xbus.c │ ├── xbus.h │ ├── xbusparser.c │ ├── xbusparser.h │ ├── xprintf.cpp │ ├── xprintf.h │ ├── xscommon_config.h │ ├── xsens_debugtools.h │ ├── xsens_generic_matrix.h │ ├── xsens_janitors.h │ ├── xsens_math_throw.cpp │ ├── xsens_math_throw.h │ ├── xsens_mutex.h │ ├── xsens_threadpool.cpp │ └── xsens_threadpool.h │ ├── xscontroller │ ├── Makefile │ ├── broadcastdevice.cpp │ ├── broadcastdevice.h │ ├── callbackmanagerxda.cpp │ ├── callbackmanagerxda.h │ ├── clocksynccommand.h │ ├── communicator.cpp │ ├── communicator.h │ ├── communicatorfactory.cpp │ ├── communicatorfactory.h │ ├── compat.h │ ├── datalogger.cpp │ ├── datalogger.h │ ├── datapacketcache.cpp │ ├── datapacketcache.h │ ├── dataparser.cpp │ ├── dataparser.h │ ├── datapoller.cpp │ ├── datapoller.h │ ├── devicecommunicator.cpp │ ├── devicecommunicator.h │ ├── devicefactory.cpp │ ├── devicefactory.h │ ├── deviceredetector.cpp │ ├── deviceredetector.h │ ├── devicetypes.h │ ├── dotdevice.cpp │ ├── dotdevice.h │ ├── dummy.cpp │ ├── enumerateusbdevices.cpp │ ├── enumerateusbdevices.h │ ├── enumexpanders.cpp │ ├── enumexpanders.h │ ├── fileloader.h │ ├── gpsstatus.h │ ├── idfetchhelpers.h │ ├── iointerface.cpp │ ├── iointerface.h │ ├── iointerfacefile.cpp │ ├── iointerfacefile.h │ ├── iprotocolhandler.h │ ├── iprotocolmanager.h │ ├── lastresultmanager.h │ ├── messageextractor.cpp │ ├── messageextractor.h │ ├── messagelocation.h │ ├── messageserializer.cpp │ ├── messageserializer.h │ ├── mtbdatalogger.cpp │ ├── mtbdatalogger.h │ ├── mtbfilecommunicator.cpp │ ├── mtbfilecommunicator.h │ ├── mtdevice.cpp │ ├── mtdevice.h │ ├── mti3x0device.cpp │ ├── mti3x0device.h │ ├── mti6x0device.cpp │ ├── mti6x0device.h │ ├── mti7_mti8device.cpp │ ├── mti7_mti8device.h │ ├── mti8x0device.cpp │ ├── mti8x0device.h │ ├── mtibasedevice.cpp │ ├── mtibasedevice.h │ ├── mtigdevice.cpp │ ├── mtigdevice.h │ ├── mtix00device.cpp │ ├── mtix00device.h │ ├── mtix0device.cpp │ ├── mtix0device.h │ ├── mtixdevice.cpp │ ├── mtixdevice.h │ ├── mtsyncsettings.h │ ├── mtthread.cpp │ ├── mtthread.h │ ├── nmea_protocolhandler.cpp │ ├── nmea_protocolhandler.h │ ├── openportstage.h │ ├── packeterrorrateestimator.cpp │ ├── packeterrorrateestimator.h │ ├── packetstamper.cpp │ ├── packetstamper.h │ ├── protocolhandler.cpp │ ├── protocolhandler.h │ ├── protocolmanager.cpp │ ├── protocolmanager.h │ ├── proxycommunicator.cpp │ ├── proxycommunicator.h │ ├── rangequeue.h │ ├── replymonitor.cpp │ ├── replymonitor.h │ ├── replyobject.cpp │ ├── replyobject.h │ ├── restorecommunication.cpp │ ├── restorecommunication.h │ ├── rx_tx_log.h │ ├── scanner.cpp │ ├── scanner.h │ ├── scenariomatchpred.h │ ├── serialcommunicator.cpp │ ├── serialcommunicator.h │ ├── serialinterface.cpp │ ├── serialinterface.h │ ├── serialportcommunicator.cpp │ ├── serialportcommunicator.h │ ├── simpleprotocolmanager.h │ ├── streaminterface.cpp │ ├── streaminterface.h │ ├── supportedsyncsettings.cpp │ ├── supportedsyncsettings.h │ ├── synclinegmt.c │ ├── synclinegmt.h │ ├── synclinemk4.c │ ├── synclinemk4.h │ ├── udev.cpp │ ├── udev.h │ ├── usbcommunicator.cpp │ ├── usbcommunicator.h │ ├── usbinterface.cpp │ ├── usbinterface.h │ ├── xdacommunicatorfactory.cpp │ ├── xdacommunicatorfactory.h │ ├── xsaccesscontrolmode.h │ ├── xsalignmentframe.h │ ├── xscalibrateddatamode.h │ ├── xscallback.h │ ├── xscallbackplainc.h │ ├── xsconnectivitystate.c │ ├── xsconnectivitystate.h │ ├── xscontrol_def.cpp │ ├── xscontrol_def.h │ ├── xscontrol_public.h │ ├── xscontrollerconfig.h │ ├── xscoordinatesystem.h │ ├── xsdef.cpp │ ├── xsdef.h │ ├── xsdevice_def.cpp │ ├── xsdevice_def.h │ ├── xsdevice_public.h │ ├── xsdeviceconfiguration.c │ ├── xsdeviceconfiguration.h │ ├── xsdeviceparameter.h │ ├── xsdeviceparameteridentifier.h │ ├── xsdeviceptr.h │ ├── xsdeviceptrarray.c │ ├── xsdeviceptrarray.h │ ├── xsdevicestate.c │ ├── xsdevicestate.h │ ├── xsdevicestate_enum.h │ ├── xserrormode.h │ ├── xsfloatformat.h │ ├── xsgnssplatform.h │ ├── xsgnssreceivertype.h │ ├── xsgnssstatus.h │ ├── xsicccommand.h │ ├── xsiccrepmotionresult.h │ ├── xslibusb.cpp │ ├── xslibusb.h │ ├── xsoperationalmode.h │ ├── xsorientationmode.h │ ├── xsprocessingflag.h │ ├── xsprotocoltype.h │ ├── xsrejectreason.c │ ├── xsrejectreason.h │ ├── xsscanner.cpp │ ├── xsscanner.h │ ├── xsselftestresult.h │ ├── xsubloxgnssplatform.h │ ├── xsusbhubinfo.c │ ├── xsusbhubinfo.h │ ├── xswinusb.cpp │ └── xswinusb.h │ └── xstypes │ ├── Makefile │ ├── datapacket_p.cpp │ ├── datapacket_p.h │ ├── pstdint.h │ ├── resource.h │ ├── xsanalogindata.h │ ├── xsarray.c │ ├── xsarray.h │ ├── xsbaud.c │ ├── xsbaud.h │ ├── xsbaudcode.h │ ├── xsbaudrate.h │ ├── xsbusid.h │ ├── xsbytearray.c │ ├── xsbytearray.h │ ├── xscalibrateddata.c │ ├── xscalibrateddata.h │ ├── xscanbaudcode.h │ ├── xscanconfigidentifier.h │ ├── xscandataidentifier.h │ ├── xscanframeformat.h │ ├── xscanoutputconfiguration.c │ ├── xscanoutputconfiguration.h │ ├── xscanoutputconfigurationarray.c │ ├── xscanoutputconfigurationarray.h │ ├── xscontrolline.h │ ├── xscopy.h │ ├── xsdataidentifier.h │ ├── xsdataidentifiervalue.h │ ├── xsdatapacket.cpp │ ├── xsdatapacket.h │ ├── xsdatapacketptr.h │ ├── xsdatapacketptrarray.c │ ├── xsdatapacketptrarray.h │ ├── xsdebugcounters.cpp │ ├── xsdebugcounters.h │ ├── xsdevicecapabilities.c │ ├── xsdevicecapabilities.h │ ├── xsdeviceid.c │ ├── xsdeviceid.h │ ├── xsdeviceidarray.c │ ├── xsdeviceidarray.h │ ├── xsdeviceoptionflag.h │ ├── xsdid.h │ ├── xsens_compat.h │ ├── xseuler.c │ ├── xseuler.h │ ├── xsexception.h │ ├── xsfile.c │ ├── xsfile.h │ ├── xsfilepos.h │ ├── xsfilterprofile.c │ ├── xsfilterprofile.h │ ├── xsfilterprofilearray.c │ ├── xsfilterprofilearray.h │ ├── xsfilterprofilekind.h │ ├── xsfloatmath.h │ ├── xsglovedata.c │ ├── xsglovedata.h │ ├── xsglovesnapshot.h │ ├── xshandid.h │ ├── xsinforequest.h │ ├── xsint64array.c │ ├── xsint64array.h │ ├── xsintarray.c │ ├── xsintarray.h │ ├── xslibraryloader.c │ ├── xslibraryloader.h │ ├── xsmalloc.c │ ├── xsmalloc.h │ ├── xsmath.c │ ├── xsmath.h │ ├── xsmath2.h │ ├── xsmatrix.c │ ├── xsmatrix.h │ ├── xsmatrix3x3.c │ ├── xsmatrix3x3.h │ ├── xsmessage.c │ ├── xsmessage.h │ ├── xsmessagearray.c │ ├── xsmessagearray.h │ ├── xsmfmresultvalue.h │ ├── xsoption.h │ ├── xsoutputconfiguration.c │ ├── xsoutputconfiguration.h │ ├── xsoutputconfigurationarray.c │ ├── xsoutputconfigurationarray.h │ ├── xsplatform.h │ ├── xsportinfo.c │ ├── xsportinfo.h │ ├── xsportinfoarray.c │ ├── xsportinfoarray.h │ ├── xspressure.h │ ├── xsprotocol.h │ ├── xsquaternion.c │ ├── xsquaternion.h │ ├── xsquaternionarray.c │ ├── xsquaternionarray.h │ ├── xsrange.c │ ├── xsrange.h │ ├── xsrawgnsspvtdata.h │ ├── xsrawgnsssatinfo.h │ ├── xsresetmethod.h │ ├── xsresultvalue.c │ ├── xsresultvalue.h │ ├── xsrssi.c │ ├── xsrssi.h │ ├── xsscrdata.h │ ├── xssdidata.c │ ├── xssdidata.h │ ├── xssensorranges.cpp │ ├── xssensorranges.h │ ├── xssimpleversion.c │ ├── xssimpleversion.h │ ├── xssnapshot.c │ ├── xssnapshot.h │ ├── xssocket.c │ ├── xssocket.h │ ├── xsstatusflag.h │ ├── xsstring.c │ ├── xsstring.h │ ├── xsstringarray.c │ ├── xsstringarray.h │ ├── xsstringoutputtype.h │ ├── xsstringoutputtypearray.c │ ├── xsstringoutputtypearray.h │ ├── xsstringstreaming.h │ ├── xssyncfunction.h │ ├── xssyncline.h │ ├── xssyncpolarity.h │ ├── xssyncrole.h │ ├── xssyncsetting.c │ ├── xssyncsetting.h │ ├── xssyncsettingarray.c │ ├── xssyncsettingarray.h │ ├── xsthread.c │ ├── xsthread.h │ ├── xstime.c │ ├── xstime.h │ ├── xstimeinfo.c │ ├── xstimeinfo.h │ ├── xstimestamp.c │ ├── xstimestamp.h │ ├── xstriggerindicationdata.c │ ├── xstriggerindicationdata.h │ ├── xstypedefs.c │ ├── xstypedefs.h │ ├── xstypesconfig.h │ ├── xstypesdef.h │ ├── xstypesdynlib.c │ ├── xstypesdynlib.h │ ├── xstypesinfo.h │ ├── xsushortvector.h │ ├── xsutctime.c │ ├── xsutctime.h │ ├── xsvector.c │ ├── xsvector.h │ ├── xsvector3.c │ ├── xsvector3.h │ ├── xsversion.c │ ├── xsversion.h │ └── xsxbusmessageid.h ├── msg └── XsStatusWord.msg ├── package.xml ├── param └── xsens_mti_node.yaml ├── rviz ├── display.rviz └── example.rviz ├── src ├── main.cpp ├── messagepublishers │ ├── accelerationhrpublisher.h │ ├── accelerationpublisher.h │ ├── angularvelocityhrpublisher.h │ ├── angularvelocitypublisher.h │ ├── freeaccelerationpublisher.h │ ├── gnssposepublisher.h │ ├── gnsspublisher.h │ ├── imupublisher.h │ ├── magneticfieldpublisher.h │ ├── nmeapublisher.h │ ├── orientationeulerpublisher.h │ ├── orientationincrementspublisher.h │ ├── orientationpublisher.h │ ├── packetcallback.h │ ├── 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