Package Summary

The ros_mscl package provides a driver for the LORD/Microstrain inertial products.

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 file for ease of use. This file contains all available parameters for the node, so please refer to that file for more information on the available parameters and how to use them

Override Parameters for ROS

1. Copy and paste the line(s) you desire to change from params.yml into a new .yml file. We will call it /home/user/my_params.yml for this example. 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 will take precedence.

2. Launch the driver and specify the new params file:

roslaunch microstrain_inertial_driver microstrain.launch params_file:=/home/user/my_params.yml

Override Parameters for ROS2

1. Copy the file empty.yml to a new .yml file. For this example we will call the new file /home/user/my_params.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 will take precedence.

2. Copy and paste the line(s) you desire to change from params.yml into /home/user/my_params.yml.

3. Launch the driver and specify the new params file:

ros2 launch microstrain_inertial_driver microstrain_launch.py params_file:=/home/user/my_params.yml

Messages Publishing

Standard ROS Messages

Custom Messages

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

Services

Wiki: microstrain_inertial_driver (last edited 2022-01-24 16:28:05 by RobFisher)