It looks like the CMakeLists.txt for the XSensMT is broken.  Navigate to server/drivers/imu/xsens/ and replace what’s in CmakeLists.txt with the following (which should work, but I can’t test it at the moment):


PLAYERDRIVER_OPTION (xsensmt build_xsensmt OFF "Disabled by default")

SET (XSENSMT_SOURCE_DIR "" CACHE STRING "Directory containing the XSensMT manufacturer source files")


SET (xsensmtSrcs










PLAYERDRIVER_ADD_DRIVER (xsensmt build_xsensmt SOURCES ${xsensmtSrcs})





Other drivers use external sources at compile time, like mixed/rmp and actarray/amtecm5.  You can look at their CmakeLists.txt for more examples, but this should work.



From: Jonathan Paxman []
Sent: Wednesday, December 09, 2009 10:24 PM
Subject: Re: [Playerstage-users] XSENSMT_SOURCE_DIR


Coming back to this, is Player expecting an environment variable called XSENSMT_SOURCE_DIR?  I tried setting this and it does not seem to work, neither could I find a Cmake variable called XSENS_SOURCE_DIR.

I have the source code required, I think (/CmtSrc from the Xsens CD).

On Sat, Oct 24, 2009 at 10:34 AM, Geoff Biggs <> wrote:

Due to licensing issues, the source code used by the XSensMT driver to talk to the device can't be included in Player. If you want to use that driver, you need to provide the code yourself (it's supplied by the manufacturer) and set XSENSMT_SOURCE_DIR to point to where you've put it. If you don't want to use that driver, you can safely ignore the message.