Configuring xsens_driver for XSENS IMU in ROS

Here I employ xsens MTI-G IMU which is orange in colour.

I am working in ROS FUERTE on ubuntu 12.04 using the xsens_driver package that ships in ethzasl_xsens_driver.

I tried to get all the relevant data from IMU namely
orientation
orientation covariance
angular velocity
angular velocity covariance
linear acceleration
linear acceleration covariance

Configuration steps
1. Attach IMU via USB
2. sudo chmod 777 /dev/ttyUSB0
3.  rosrun xsens_driver mtdevice.py --configure --output-mode=coapvs --output-settings=tqMAG

The above command should result in something like this

Configuring mode and settings  Ok

4. roslaunch xsens_driver xsens_driver.launch

5. rostopic echo /imu/data

Then it should display

header:
  seq: 166
  stamp:
    secs: 1396073832
    nsecs: 314651012
  frame_id: /imu
orientation:
  x: -0.00116935407277
  y: -0.0249380189925
  z: 0.306782633066
  w: 0.95145213604
orientation_covariance: [0.017453292519943295, 0.0, 0.0, 0.0, 0.017453292519943295, 0.0, 0.0, 0.0, 0.15707963267948966]
angular_velocity:
  x: 0.00783694628626
  y: -0.0136562986299
  z: 0.00587089639157
angular_velocity_covariance: [0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824]
linear_acceleration:
  x: 0.347801417112
  y: -0.202733114362
  z: 9.81818389893
linear_acceleration_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]
---

Good day!