melodic noetic

Overview

ROS driver for all of Microstrain's current G and C series products.

The interface makes use of MSCL (Microstrain Communication Library) from Microstrain to communicate with the device. Includes the following applications:

Supported Devices

3DM-GQ7

3DM-GX5-45

3DM-GX5-25

3DM-GX5-15

Installation

Docker

The microstrain_inertial_driver is distributed as a docker image. More information on how to use the image can be found on DockerHub.

Buildfarm

This package is being built and distributed by the ROS build farm. If you do not need to modify the source, it is recommended to install directly from the buildfarm by running the following commands where ROS_DISTRO is the version of ROS you are using such as melodic or noetic:

Driver:

sudo apt-get update && sudo apt-get install ros-ROS_DISTRO-microstrain-inertial-driver

Source:

For more info on source code and how to build from source, visit our README.md on our microstrain_inertial GitHub page.

For more information on the ROS distros and platforms we support, please see our index.ros.org page.

Usage

Configure Parameters

This node uses a params.yml launch file for ease of use. Simply copy paste the line you desire to change from params.yml into empty.yml. This new .yml file will override the default params.yml and if there are multiple lines of the same parameter, the last instance of the parameter in the empty.yml will take precedent. Assign an appropriate name as desired name to empty.yml.

Launch the Node and Publish Data

Messages Publishing

Standard ROS Messages

• /imu/data sensor_msgs/Imu

• nav/filtered_imu/data sensor_msgs/Imu

• mag sensor_msgs/MagneticField

• gnss1/fix sensor_msgs/NavSatFix

• gnss2/fix sensor_msgs/NavSatFix

• gnss1/time_ref sensor_msgs/TimeReference

• gnss2/time_ref sensor_msgs/TimeReference

• nav/odom nav_msgs/Odometry

• nav/relative_pos/odom nav_msgs/Odometry

• gnss1/odom nav_msgs/Odometry

• gnss2/odom nav_msgs/Odometry

Custom Messages

MicroStrain Inertial provides additional functionality through many custom messages, built on our MIP protocol.

• gps_corr microstrain_inertial_msgs/GPSCorrelationTimestampStamped

• gnss1/aiding_status microstrain_inertial_msgs/GNSSAidingStatus

• gnss2/aiding_status microstrain_inertial_msgs/GNSSAidingStatus

• rtk/status microstrain_inertial_msgs/RTKStatus

• nav/status microstrain_inertial_msgs/FilterStatus

• nav/heading microstrain_inertial_msgs/FilterHeading

• nav/heading_state microstrain_inertial_msgs/FilterHeadingState

• nav/dual_antenna_status microstrain_inertial_msgs/GNSSDualAntennaStatus

Services

• get_basic_status std_srvs/Trigger

• get_diagnostic_report std_srvs/Trigger

• device_report std_srvs/Trigger

• set_tare_orientation microstrain_inertial_msgs/SetTareOrientation

• set_complementary_filter microstrain_inertial_msgs/SetComplementaryFilter

• get_complementary_filter microstrain_inertial_msgs/GetComplementaryFilter

• set_sensor2vehicle_rotation microstrain_inertial_msgs/SetSensor2VehicleRotation

• get_sensor2vehicle_rotation microstrain_inertial_msgs/GetSensor2VehicleRotation

• set_sensor2vehicle_offset microstrain_inertial_msgs/SetSensor2VehicleOffset

• get_sensor2vehicle_offset microstrain_inertial_msgs/GetSensor2VehicleOffset

• get_sensor2vehicle_transformation microstrain_inertial_msgs/GetSensor2VehicleTransformation

• set_accel_bias microstrain_inertial_msgs/SetAccelBias

• get_accel_bias microstrain_inertial_msgs/GetAccelBias

• set_gyro_bias microstrain_inertial_msgs/SetGyroBias

• get_gyro_bias microstrain_inertial_msgs/GetGyroBias

• gyro_bias_capture std_srvs/Trigger

• set_hard_iron_values microstrain_inertial_msgs/SetHardIronValues

• get_hard_iron_values microstrain_inertial_msgs/GetHardIronValues

• set_soft_iron_matrix microstrain_inertial_msgs/SetSoftIronMatrix

• get_soft_iron_matrix microstrain_inertial_msgs/GetSoftIronMatrix

• set_coning_sculling_comp microstrain_inertial_msgs/SetConingScullingComp

• get_coning_sculling_comp microstrain_inertial_msgs/GetConingScullingComp

• reset_kf std_srvs/Empty

• set_estimation_control_flags microstrain_inertial_msgs/SetEstimationControlFlags

• get_estimation_control_flags microstrain_inertial_msgs/GetEstimationControlFlags

• init_filter_heading microstrain_inertial_msgs/InitFilterHeading

• set_heading_source microstrain_inertial_msgs/SetHeadingSource

• get_heading_source microstrain_inertial_msgs/GetHeadingSource

• commanded_vel_zupt std_srvs/Trigger

• commanded_ang_rate_zupt std_srvs/Trigger

• set_accel_noise microstrain_inertial_msgs/SetAccelNoise

• get_accel_noise microstrain_inertial_msgs/GetAccelNoise

• set_gyro_noise microstrain_inertial_msgs/SetGyroNoise

• get_gyro_noise microstrain_inertial_msgs/GetGyroNoise

• set_mag_noise microstrain_inertial_msgs/SetMagNoise

• get_mag_noise microstrain_inertial_msgs/GetMagNoise

• set_accel_bias_model microstrain_inertial_msgs/SetAccelBiasModel

• get_accel_bias_model microstrain_inertial_msgs/GetAccelBiasModel

• set_gyro_bias_model microstrain_inertial_msgs/SetGyroBiasModel

• get_gyro_bias_model microstrain_inertial_msgs/GetGyroBiasModel

• set_mag_adaptive_vals microstrain_inertial_msgs/SetMagAdaptiveVals

• get_mag_adaptive_vals microstrain_inertial_msgs/GetMagAdaptiveVals

• set_mag_dip_adaptive_vals microstrain_inertial_msgs/SetMagDipAdaptiveVals

• get_mag_dip_adaptive_vals microstrain_inertial_msgs/GetMagDipAdaptiveVals

• set_gravity_adaptive_vals microstrain_inertial_msgs/SetGravityAdaptiveVals

• get_gravity_adaptive_vals microstrain_inertial_msgs/GetGravityAdaptiveVals

• set_zero_angle_update_threshold microstrain_inertial_msgs/SetZeroAngleUpdateThreshold

• get_zero_angle_update_threshold microstrain_inertial_msgs/GetZeroAngleUpdateThreshold

• set_zero_velocity_update_threshold microstrain_inertial_msgs/SetZeroVelocityUpdateThreshold

• get_zero_velocity_update_threshold microstrain_inertial_msgs/GetZeroVelocityUpdateThreshold

• set_reference_position microstrain_inertial_msgs/SetReferencePosition

• get_reference_position microstrain_inertial_msgs/GetReferencePosition

• set_dynamics_mode microstrain_inertial_msgs/SetDynamicsMode

• get_dynamics_mode microstrain_inertial_msgs/GetDynamicsMode

• device_settings microstrain_inertial_msgs/DeviceSettings

• external_heading microstrain_inertial_msgs/ExternalHeadingUpdate

• set_relative_position_reference microstrain_inertial_msgs/SetRelativePositionReference

• set_filter_speed_lever_arm microstrain_inertial_msgs/SetFilterSpeedLeverArm