Overview

Easy to use launch files that allow users to localize using a MicroStrain inertial sensor and the microstrain_inertial_driver

Usage

This package provides easy to use launch files for the following use cases

NOTE: In each use case, we provide a simple way to run your own robot_localization and/or robot_description nodes to get started, but ultimately most users in this use case should configure and launch their own instance of these nodes.

NOTE: The frames outlined below are documented in REP 105.

odom

This use case allows users to run the microstrain_inertial_driver alongside other localization nodes such as robot_localization.

The transform tree will look something like this for this use case:

odom use case frame visualization

Usage and Configuration

Please see the following pages for device specific configuration for this use case:

map

This use case is useful for users who want to localize using only the microstrain_inertial_driver, but still want to operate in a local tangent plane.

The transform tree will look something like this for this use case:

map use case frame visualization

Usage and Configuration

Please see the following pages for device specific configuration for this use case:

earth

This use case is useful for users who want to localize using only the microstrain_inertial_driver, and do not care about a local tangent plane.

The transform tree will look something like this for this use case:

earth use case frame visualizataion

Usage and Configuration

Please see the following pages for device specific configuration for this use case:

Wiki: microstrain_inertial_localization (last edited 2024-04-01 14:32:35 by RobFisher)