Package Summary

Tags No category tags.
Version 2.1.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/LORD-MicroStrain/microstrain_inertial.git
VCS Type git
VCS Version ros2
Last Updated 2021-11-23
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

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

Additional Links

Maintainers

  • Rob Fisher
  • Melissa Gill

Authors

  • Brian Bingham
  • Parker Hannifin Corp
README
No README found. See repository README.
CHANGELOG

Changelog for package ros_mscl

2.1.0 (2021-11-12)

  • Adds transform broadcaster that will publish transform between filter_frame_id and filter_child_frame_id
  • Corrects some ENU conversions that were not being properly made
  • Properly disables/enables RTK dongle based on launch config
  • Publishes RTK data even when device_setup is set to false if the device was configured to send RTK data
  • Contributors: ianmooreparker, robbiefish

2.0.6 (2021-10-22)

  • Fixes CMake build errors experienced on the build farm
  • Contributors: Rob Fisher, robbiefish

2.0.5 (2021-10-21)

  • Updates maintainers and dependencies in preparation for ROS build farm
  • Updates submodule to check for correct architecture
  • Moves submodules to subdirectory to get bloom working
  • Renames packages to be more consistent with ROS naming conventions
  • Contributors: Rob Fisher, robbiefish

1.1.4 (2021-07-30)

  • Installs MSCL from CMake to hopefully allow this package to be built in the buildfarm
  • Merge pull request #70 from ori-drs/master [ros_mscl] Turn filter_data_rate and imu_data_rate into an argument
  • [ros_mscl] Turn filter_data_rate and imu_data_rate into an argument
  • Eliminated build warnings
  • Fixed a bug that wouldn\'t allow the rtk dongle to be enabled as it was using the wrong variable to enable it.
  • See changelog
  • Added aiding measurement summary for each GNSS (GQ7 only) Added MSCL version output when node starts
  • Merge pull request #50 from civerachb-cpr/master Add an arg to enable setting NED/ENU frame parameter
  • Add an arg to enable setting NED/ENU frame parameter
  • Contributors: Chris Iverach-Brereton, Nathan Miller, Wolfgang Merkt, nathanmillerparker, robbiefish

1.1.3 (2021-04-21)

  • Removed duplicate Filter LLH Pos entry in message format Preparing for release on Bloom
  • Merge pull request #49 from civerachb-cpr/rosdep-fix Add tf2_geometry_msgs as a dependency
  • Add tf2_geometry_msgs as a dependency
  • Merge pull request #48 from civerachb-cpr/master Make frame IDs configurable
  • Add args for all of the frame ids to allow them to be modified when launching. Keep the old static values as the defaults.
  • Added frame ids back in to not break existing configurations
  • Added a flag to set ENU as the local reference frame Moved sensor2vehicle frame transformation setting code to occur if filter data is not enabled See changelog for more info
  • Added user notifications in the case a command isn\'t supported by a device. Added support for the speedometer lever arm offset command
  • Corrected description in launch file to point out the quaternion version of the sensor2vehicle frame transformation is not currently supported on the GQ7
  • Added ROS_INFO/ROS_ERROR reporting for setting sensor2vehicle frame transformation... had a silent error for the quaternion version on the GQ7.
  • Added the filter GPS timestamp packet to the configured messages.
    • Driver modified to support MSCL version 61.1.6
    • Fixed missing boolean set for RTK status message publishing
  • Timestamp change: 1. Launch file setting \"use_device_timestamp\" (bool) created to allow user to select between device generated timestamp and packet received time (generated using PC time upon packet reception.)

    • Some applications require the PC received time to sync with other packages

    - Some applications require the device generated timestamp for accurate time of when the data was generated Hopefully, this satisfies both needs.

  • Merge pull request #36 from arpg/master Fixed issue including mscl_msgs

  • Fixed issue including mscl_msgs

  • Merge pull request #34 from CaptKrasno/msg Moved Messages to Separate Package and renamed them to match ros convention

  • Merge branch \'master\' into msg

  • Warning: Contains breaking change to /nav/odom message! Code cleanup, new features, bug fixes See changelog for complete list of changes

  • Separated Messages into a second package and changed naming to match ros convention

  • Merge remote-tracking branch \'upstream/master\'

  • Merge pull request #30 from CaptKrasno/gps_corr Added support for gps_correlation_timestamp packet

  • changed default value for m_publish_gps_corr to false

  • Merge branch \'master\' into gps_corr

  • Merge pull request #31 from CaptKrasno/gravity redefined g according to the spec

  • redefined g according to the spec

  • Added support for gps_correlation_timestamp packet

  • Modified filter, GNSS, and RTK timestamp handling to disregard valid flags (to match IMU handling)

  • Added IMU GPS timestamp as a default data setup quantity. Removed IMU timestamp validity check so time still streams prior to GPS lock.

  • Fixed bug preventing device report service from working on a GQ7.

  • Added support for raw binary file output and RTK status message (see changelog for details)

  • Added PPS Source, GPIO Config, and external GPS time updating

  • Added feature checking for filter reset and imu category

  • Fixed driver error that tried to publish magnetometer data when it is not present

  • 1) Added device Idle prior to shutdown to play nice across host power cycles 2) Fixed flags used to determine valid time for GNSS time message

  • Fixed time reference output to use ROS time for header timestamp

  • sensor_msgs::TimeReference added per user request

  • Added a resume command at the end of device setup as the GQ7 needs it.

  • 1) Changed GQ7 filter init alignment selector to a bitfield in the example launch file 2) Fixed quaternion sensor2vehicle frame rotation (negated the indices instead of the values by accident)

  • See changelog for full details. Added support for GQ7 Changed \"GPS\" topic to \"GNSS1\" and added \"GNSS2\" Refactored code

  • Added Device Settings service: Supports function selectors: 3 (Save), 4 (Load Saved), 5 (Load Defaults)

  • Added nav filter heading state feedback

  • Only doing device_status_callback() at 1 Hz now

  • Fully filled-out device status message

  • Added missing system timer to device status message

  • Added a nav heading message to easily interpret current filter heading

  • Fixed firmware version number reporting in device_report service

  • 1) Fixed missing CMakeList services 2) Updated \"Get\" services to output data in response (still being tested)

  • 1) Changes to CMakeLists committed (changes were made previously, but didn\'t update for unknown reasons) 2) Removed unused files

  • Launch file didn\'t commit in previous attempts: 1) Cleaned-up the file 2) Renamed the frames for more clear indication of origin

  • 1) Code restructured and commented more fully 2) Quaternions now correct and relative to NED frame

  • Changes to cleanup driver: 1) Services renamed for better interpretation of functionality 2) Quaternion now output correctly (i.e. wrt NED frame) 3) Frame definitions changed to represent NED frame

  • Update microstrain_3dm.cpp Adjusted gyro bias capture to 10 seconds

  • Update microstrain_3dm.cpp

  • Update microstrain_3dm.cpp

  • Merge pull request #15 from allenh1/get-set-transform-service-improvements Get/Set Transform Service Improvements

  • Merge pull request #16 from allenh1/store-mscl-as-unique-ptr Store msclInternalNode as a std::unique_ptr<mscl::InertialNode>

  • Use the msclInertialNode pointer to check supported commands

  • Store the mscl::InertialNode as a std::unique_ptr, and remove unused variable from diagnostic updater

  • Add a service call to get the full transform from sensor to vehicle frame

  • Replace empty destructor with default keyword

  • Rename vehicle translation and rotation offset setting services to better match their function

  • Remove unused service

  • Fixed sensor to vehicle frame services

  • Added ZUPT services

    • cmded_ang_rate_zupt
    • cmded_vel_zupt
    • set_heading_source
    • get_zero_velocity_update_threshold

    - set_zero_velocity_update_threshold added optional parameters - velocity_zupt_topic - angular_zupt_topic

  • Added new estfilter channels

  • Updated frames

  • Added header info to mag msg

  • new fields

  • Custom message for filter status

  • New fields

  • New Fields

  • Update microstrain_3dm.cpp

  • Publishes nav_status

  • device_setup parameter for pre-configured nodes

  • Change heading_source default value

  • Removed structured bindings No longer requires support for c++17

  • Switched to device and received timestamps

  • Added heading_source parameter

  • Added heading_source parameter

  • Added /filtered/imu/data

  • Added /filtered/imu/data

  • Added realpath to Connection

  • Update Status Messages Updated status reporting to list only supported diagnostic features. This requires mscl version 55.0.1 or later.

    • move driver package content to ros_mscl folder
    • add name argument to microstrain.launch file to specify the namespace (default: gx5)
    • update README.md
    • add basic subscriber example (C++)
  • Contributors: Chris Iverach-Brereton, Hunter L. Allen, Kristopher Krasnosky, Nathan Miller, harelb, mgill, nathanmillerparker, rdslord

0.0.4 (2019-10-07)

0.0.3 (2019-08-05)

0.0.2 (2019-05-28)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged microstrain_inertial_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 2.1.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/LORD-MicroStrain/microstrain_inertial.git
VCS Type git
VCS Version ros2
Last Updated 2021-11-23
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

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

Additional Links

Maintainers

  • Rob Fisher
  • Melissa Gill

Authors

  • Brian Bingham
  • Parker Hannifin Corp
README
No README found. See repository README.
CHANGELOG

Changelog for package ros_mscl

2.1.0 (2021-11-12)

  • Adds transform broadcaster that will publish transform between filter_frame_id and filter_child_frame_id
  • Corrects some ENU conversions that were not being properly made
  • Properly disables/enables RTK dongle based on launch config
  • Publishes RTK data even when device_setup is set to false if the device was configured to send RTK data
  • Contributors: ianmooreparker, robbiefish

2.0.6 (2021-10-22)

  • Fixes CMake build errors experienced on the build farm
  • Contributors: Rob Fisher, robbiefish

2.0.5 (2021-10-21)

  • Updates maintainers and dependencies in preparation for ROS build farm
  • Updates submodule to check for correct architecture
  • Moves submodules to subdirectory to get bloom working
  • Renames packages to be more consistent with ROS naming conventions
  • Contributors: Rob Fisher, robbiefish

1.1.4 (2021-07-30)

  • Installs MSCL from CMake to hopefully allow this package to be built in the buildfarm
  • Merge pull request #70 from ori-drs/master [ros_mscl] Turn filter_data_rate and imu_data_rate into an argument
  • [ros_mscl] Turn filter_data_rate and imu_data_rate into an argument
  • Eliminated build warnings
  • Fixed a bug that wouldn\'t allow the rtk dongle to be enabled as it was using the wrong variable to enable it.
  • See changelog
  • Added aiding measurement summary for each GNSS (GQ7 only) Added MSCL version output when node starts
  • Merge pull request #50 from civerachb-cpr/master Add an arg to enable setting NED/ENU frame parameter
  • Add an arg to enable setting NED/ENU frame parameter
  • Contributors: Chris Iverach-Brereton, Nathan Miller, Wolfgang Merkt, nathanmillerparker, robbiefish

1.1.3 (2021-04-21)

  • Removed duplicate Filter LLH Pos entry in message format Preparing for release on Bloom
  • Merge pull request #49 from civerachb-cpr/rosdep-fix Add tf2_geometry_msgs as a dependency
  • Add tf2_geometry_msgs as a dependency
  • Merge pull request #48 from civerachb-cpr/master Make frame IDs configurable
  • Add args for all of the frame ids to allow them to be modified when launching. Keep the old static values as the defaults.
  • Added frame ids back in to not break existing configurations
  • Added a flag to set ENU as the local reference frame Moved sensor2vehicle frame transformation setting code to occur if filter data is not enabled See changelog for more info
  • Added user notifications in the case a command isn\'t supported by a device. Added support for the speedometer lever arm offset command
  • Corrected description in launch file to point out the quaternion version of the sensor2vehicle frame transformation is not currently supported on the GQ7
  • Added ROS_INFO/ROS_ERROR reporting for setting sensor2vehicle frame transformation... had a silent error for the quaternion version on the GQ7.
  • Added the filter GPS timestamp packet to the configured messages.
    • Driver modified to support MSCL version 61.1.6
    • Fixed missing boolean set for RTK status message publishing
  • Timestamp change: 1. Launch file setting \"use_device_timestamp\" (bool) created to allow user to select between device generated timestamp and packet received time (generated using PC time upon packet reception.)

    • Some applications require the PC received time to sync with other packages

    - Some applications require the device generated timestamp for accurate time of when the data was generated Hopefully, this satisfies both needs.

  • Merge pull request #36 from arpg/master Fixed issue including mscl_msgs

  • Fixed issue including mscl_msgs

  • Merge pull request #34 from CaptKrasno/msg Moved Messages to Separate Package and renamed them to match ros convention

  • Merge branch \'master\' into msg

  • Warning: Contains breaking change to /nav/odom message! Code cleanup, new features, bug fixes See changelog for complete list of changes

  • Separated Messages into a second package and changed naming to match ros convention

  • Merge remote-tracking branch \'upstream/master\'

  • Merge pull request #30 from CaptKrasno/gps_corr Added support for gps_correlation_timestamp packet

  • changed default value for m_publish_gps_corr to false

  • Merge branch \'master\' into gps_corr

  • Merge pull request #31 from CaptKrasno/gravity redefined g according to the spec

  • redefined g according to the spec

  • Added support for gps_correlation_timestamp packet

  • Modified filter, GNSS, and RTK timestamp handling to disregard valid flags (to match IMU handling)

  • Added IMU GPS timestamp as a default data setup quantity. Removed IMU timestamp validity check so time still streams prior to GPS lock.

  • Fixed bug preventing device report service from working on a GQ7.

  • Added support for raw binary file output and RTK status message (see changelog for details)

  • Added PPS Source, GPIO Config, and external GPS time updating

  • Added feature checking for filter reset and imu category

  • Fixed driver error that tried to publish magnetometer data when it is not present

  • 1) Added device Idle prior to shutdown to play nice across host power cycles 2) Fixed flags used to determine valid time for GNSS time message

  • Fixed time reference output to use ROS time for header timestamp

  • sensor_msgs::TimeReference added per user request

  • Added a resume command at the end of device setup as the GQ7 needs it.

  • 1) Changed GQ7 filter init alignment selector to a bitfield in the example launch file 2) Fixed quaternion sensor2vehicle frame rotation (negated the indices instead of the values by accident)

  • See changelog for full details. Added support for GQ7 Changed \"GPS\" topic to \"GNSS1\" and added \"GNSS2\" Refactored code

  • Added Device Settings service: Supports function selectors: 3 (Save), 4 (Load Saved), 5 (Load Defaults)

  • Added nav filter heading state feedback

  • Only doing device_status_callback() at 1 Hz now

  • Fully filled-out device status message

  • Added missing system timer to device status message

  • Added a nav heading message to easily interpret current filter heading

  • Fixed firmware version number reporting in device_report service

  • 1) Fixed missing CMakeList services 2) Updated \"Get\" services to output data in response (still being tested)

  • 1) Changes to CMakeLists committed (changes were made previously, but didn\'t update for unknown reasons) 2) Removed unused files

  • Launch file didn\'t commit in previous attempts: 1) Cleaned-up the file 2) Renamed the frames for more clear indication of origin

  • 1) Code restructured and commented more fully 2) Quaternions now correct and relative to NED frame

  • Changes to cleanup driver: 1) Services renamed for better interpretation of functionality 2) Quaternion now output correctly (i.e. wrt NED frame) 3) Frame definitions changed to represent NED frame

  • Update microstrain_3dm.cpp Adjusted gyro bias capture to 10 seconds

  • Update microstrain_3dm.cpp

  • Update microstrain_3dm.cpp

  • Merge pull request #15 from allenh1/get-set-transform-service-improvements Get/Set Transform Service Improvements

  • Merge pull request #16 from allenh1/store-mscl-as-unique-ptr Store msclInternalNode as a std::unique_ptr<mscl::InertialNode>

  • Use the msclInertialNode pointer to check supported commands

  • Store the mscl::InertialNode as a std::unique_ptr, and remove unused variable from diagnostic updater

  • Add a service call to get the full transform from sensor to vehicle frame

  • Replace empty destructor with default keyword

  • Rename vehicle translation and rotation offset setting services to better match their function

  • Remove unused service

  • Fixed sensor to vehicle frame services

  • Added ZUPT services

    • cmded_ang_rate_zupt
    • cmded_vel_zupt
    • set_heading_source
    • get_zero_velocity_update_threshold

    - set_zero_velocity_update_threshold added optional parameters - velocity_zupt_topic - angular_zupt_topic

  • Added new estfilter channels

  • Updated frames

  • Added header info to mag msg

  • new fields

  • Custom message for filter status

  • New fields

  • New Fields

  • Update microstrain_3dm.cpp

  • Publishes nav_status

  • device_setup parameter for pre-configured nodes

  • Change heading_source default value

  • Removed structured bindings No longer requires support for c++17

  • Switched to device and received timestamps

  • Added heading_source parameter

  • Added heading_source parameter

  • Added /filtered/imu/data

  • Added /filtered/imu/data

  • Added realpath to Connection

  • Update Status Messages Updated status reporting to list only supported diagnostic features. This requires mscl version 55.0.1 or later.

    • move driver package content to ros_mscl folder
    • add name argument to microstrain.launch file to specify the namespace (default: gx5)
    • update README.md
    • add basic subscriber example (C++)
  • Contributors: Chris Iverach-Brereton, Hunter L. Allen, Kristopher Krasnosky, Nathan Miller, harelb, mgill, nathanmillerparker, rdslord

0.0.4 (2019-10-07)

0.0.3 (2019-08-05)

0.0.2 (2019-05-28)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged microstrain_inertial_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 2.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/LORD-MicroStrain/microstrain_inertial.git
VCS Type git
VCS Version ros
Last Updated 2021-11-23
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

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

Additional Links

Maintainers

  • Rob Fisher
  • Melissa Gill

Authors

  • Brian Bingham
  • Parker Hannifin Corp
README
No README found. See repository README.
CHANGELOG

Changelog for package ros_mscl

2.1.0 (2021-11-12)

  • Adds transform broadcaster that will publish transform between filter_frame_id and filter_child_frame_id
  • Corrects some ENU conversions that were not being properly made
  • Properly disables/enables RTK dongle based on launch config
  • Publishes RTK data even when device_setup is set to false if the device was configured to send RTK data
  • Contributors: ianmooreparker, robbiefish

2.0.5 (2021-10-19)

  • Update MSCL version to fix ROS buildfarm errors hopefully
  • Contributors: robbiefish

2.0.4 (2021-09-08)

  • Upgrade CMake version and removes unused include in examples
  • Contributors: robbiefish

2.0.3 (2021-09-08)

  • Fixes missing dependencies in example and checks gcc directly for architecture
  • Contributors: robbiefish

2.0.2 (2021-08-30)

  • Fixes cmake warnings and updates maintainers
  • Contributors: robbiefish

2.0.1 (2021-08-24)

  • Moves submodules to accomodate ROS build farm
  • Contributors: Rob Fisher

2.0.0 (2021-08-24)

  • Optionally polls and waits for device to exist before trying to connect
  • Adds tolerance for streaming devices on startup by retrying connections until the device can be communicated with
  • Moves common code to submodule to reduce code duplication
  • Renames packages to be compatible with ROS build farm
  • Gracefully exits on device disconnect
  • Contributors: Rob Fisher

1.1.4 (2021-07-30)

  • Installs MSCL from CMake to hopefully allow this package to be built in the buildfarm
  • Merge pull request #70 from ori-drs/master [ros_mscl] Turn filter_data_rate and imu_data_rate into an argument
  • [ros_mscl] Turn filter_data_rate and imu_data_rate into an argument
  • Eliminated build warnings
  • Fixed a bug that wouldn\'t allow the rtk dongle to be enabled as it was using the wrong variable to enable it.
  • See changelog
  • Added aiding measurement summary for each GNSS (GQ7 only) Added MSCL version output when node starts
  • Merge pull request #50 from civerachb-cpr/master Add an arg to enable setting NED/ENU frame parameter
  • Add an arg to enable setting NED/ENU frame parameter
  • Contributors: Chris Iverach-Brereton, Nathan Miller, Wolfgang Merkt, nathanmillerparker, robbiefish

1.1.3 (2021-04-21)

  • Removed duplicate Filter LLH Pos entry in message format Preparing for release on Bloom
  • Merge pull request #49 from civerachb-cpr/rosdep-fix Add tf2_geometry_msgs as a dependency
  • Add tf2_geometry_msgs as a dependency
  • Merge pull request #48 from civerachb-cpr/master Make frame IDs configurable
  • Add args for all of the frame ids to allow them to be modified when launching. Keep the old static values as the defaults.
  • Added frame ids back in to not break existing configurations
  • Added a flag to set ENU as the local reference frame Moved sensor2vehicle frame transformation setting code to occur if filter data is not enabled See changelog for more info
  • Added user notifications in the case a command isn\'t supported by a device. Added support for the speedometer lever arm offset command
  • Corrected description in launch file to point out the quaternion version of the sensor2vehicle frame transformation is not currently supported on the GQ7
  • Added ROS_INFO/ROS_ERROR reporting for setting sensor2vehicle frame transformation... had a silent error for the quaternion version on the GQ7.
  • Added the filter GPS timestamp packet to the configured messages.
    • Driver modified to support MSCL version 61.1.6
    • Fixed missing boolean set for RTK status message publishing
  • Timestamp change: 1. Launch file setting \"use_device_timestamp\" (bool) created to allow user to select between device generated timestamp and packet received time (generated using PC time upon packet reception.)

    • Some applications require the PC received time to sync with other packages

    - Some applications require the device generated timestamp for accurate time of when the data was generated Hopefully, this satisfies both needs.

  • Merge pull request #36 from arpg/master Fixed issue including mscl_msgs

  • Fixed issue including mscl_msgs

  • Merge pull request #34 from CaptKrasno/msg Moved Messages to Separate Package and renamed them to match ros convention

  • Merge branch \'master\' into msg

  • Warning: Contains breaking change to /nav/odom message! Code cleanup, new features, bug fixes See changelog for complete list of changes

  • Separated Messages into a second package and changed naming to match ros convention

  • Merge remote-tracking branch \'upstream/master\'

  • Merge pull request #30 from CaptKrasno/gps_corr Added support for gps_correlation_timestamp packet

  • changed default value for m_publish_gps_corr to false

  • Merge branch \'master\' into gps_corr

  • Merge pull request #31 from CaptKrasno/gravity redefined g according to the spec

  • redefined g according to the spec

  • Added support for gps_correlation_timestamp packet

  • Modified filter, GNSS, and RTK timestamp handling to disregard valid flags (to match IMU handling)

  • Added IMU GPS timestamp as a default data setup quantity. Removed IMU timestamp validity check so time still streams prior to GPS lock.

  • Fixed bug preventing device report service from working on a GQ7.

  • Added support for raw binary file output and RTK status message (see changelog for details)

  • Added PPS Source, GPIO Config, and external GPS time updating

  • Added feature checking for filter reset and imu category

  • Fixed driver error that tried to publish magnetometer data when it is not present

  • 1) Added device Idle prior to shutdown to play nice across host power cycles 2) Fixed flags used to determine valid time for GNSS time message

  • Fixed time reference output to use ROS time for header timestamp

  • sensor_msgs::TimeReference added per user request

  • Added a resume command at the end of device setup as the GQ7 needs it.

  • 1) Changed GQ7 filter init alignment selector to a bitfield in the example launch file 2) Fixed quaternion sensor2vehicle frame rotation (negated the indices instead of the values by accident)

  • See changelog for full details. Added support for GQ7 Changed \"GPS\" topic to \"GNSS1\" and added \"GNSS2\" Refactored code

  • Added Device Settings service: Supports function selectors: 3 (Save), 4 (Load Saved), 5 (Load Defaults)

  • Added nav filter heading state feedback

  • Only doing device_status_callback() at 1 Hz now

  • Fully filled-out device status message

  • Added missing system timer to device status message

  • Added a nav heading message to easily interpret current filter heading

  • Fixed firmware version number reporting in device_report service

  • 1) Fixed missing CMakeList services 2) Updated \"Get\" services to output data in response (still being tested)

  • 1) Changes to CMakeLists committed (changes were made previously, but didn\'t update for unknown reasons) 2) Removed unused files

  • Launch file didn\'t commit in previous attempts: 1) Cleaned-up the file 2) Renamed the frames for more clear indication of origin

  • 1) Code restructured and commented more fully 2) Quaternions now correct and relative to NED frame

  • Changes to cleanup driver: 1) Services renamed for better interpretation of functionality 2) Quaternion now output correctly (i.e. wrt NED frame) 3) Frame definitions changed to represent NED frame

  • Update microstrain_3dm.cpp Adjusted gyro bias capture to 10 seconds

  • Update microstrain_3dm.cpp

  • Update microstrain_3dm.cpp

  • Merge pull request #15 from allenh1/get-set-transform-service-improvements Get/Set Transform Service Improvements

  • Merge pull request #16 from allenh1/store-mscl-as-unique-ptr Store msclInternalNode as a std::unique_ptr<mscl::InertialNode>

  • Use the msclInertialNode pointer to check supported commands

  • Store the mscl::InertialNode as a std::unique_ptr, and remove unused variable from diagnostic updater

  • Add a service call to get the full transform from sensor to vehicle frame

  • Replace empty destructor with default keyword

  • Rename vehicle translation and rotation offset setting services to better match their function

  • Remove unused service

  • Fixed sensor to vehicle frame services

  • Added ZUPT services

    • cmded_ang_rate_zupt
    • cmded_vel_zupt
    • set_heading_source
    • get_zero_velocity_update_threshold

    - set_zero_velocity_update_threshold added optional parameters - velocity_zupt_topic - angular_zupt_topic

  • Added new estfilter channels

  • Updated frames

  • Added header info to mag msg

  • new fields

  • Custom message for filter status

  • New fields

  • New Fields

  • Update microstrain_3dm.cpp

  • Publishes nav_status

  • device_setup parameter for pre-configured nodes

  • Change heading_source default value

  • Removed structured bindings No longer requires support for c++17

  • Switched to device and received timestamps

  • Added heading_source parameter

  • Added heading_source parameter

  • Added /filtered/imu/data

  • Added /filtered/imu/data

  • Added realpath to Connection

  • Update Status Messages Updated status reporting to list only supported diagnostic features. This requires mscl version 55.0.1 or later.

    • move driver package content to ros_mscl folder
    • add name argument to microstrain.launch file to specify the namespace (default: gx5)
    • update README.md
    • add basic subscriber example (C++)
  • Contributors: Chris Iverach-Brereton, Hunter L. Allen, Kristopher Krasnosky, Nathan Miller, harelb, mgill, nathanmillerparker, rdslord

0.0.4 (2019-10-07)

0.0.3 (2019-08-05)

0.0.2 (2019-05-28)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/microstrain.launch
      • name [default: gx5]
      • port [default: /dev/ttyACM0]
      • baudrate [default: 115200]
      • debug [default: false]
      • diagnostics [default: true]
      • imu_frame_id [default: sensor]
      • imu_data_rate [default: 100]
      • filter_data_rate [default: 10]
      • gnss1_frame_id [default: gnss1_antenna_wgs84]
      • gnss2_frame_id [default: gnss2_antenna_wgs84]
      • filter_frame_id [default: sensor_wgs84]
      • filter_child_frame_id [default: sensor]
      • use_enu_frame [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged microstrain_inertial_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 2.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/LORD-MicroStrain/microstrain_inertial.git
VCS Type git
VCS Version ros
Last Updated 2021-11-23
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

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

Additional Links

Maintainers

  • Rob Fisher
  • Melissa Gill

Authors

  • Brian Bingham
  • Parker Hannifin Corp
README
No README found. See repository README.
CHANGELOG

Changelog for package ros_mscl

2.1.0 (2021-11-12)

  • Adds transform broadcaster that will publish transform between filter_frame_id and filter_child_frame_id
  • Corrects some ENU conversions that were not being properly made
  • Properly disables/enables RTK dongle based on launch config
  • Publishes RTK data even when device_setup is set to false if the device was configured to send RTK data
  • Contributors: ianmooreparker, robbiefish

2.0.5 (2021-10-19)

  • Update MSCL version to fix ROS buildfarm errors hopefully
  • Contributors: robbiefish

2.0.4 (2021-09-08)

  • Upgrade CMake version and removes unused include in examples
  • Contributors: robbiefish

2.0.3 (2021-09-08)

  • Fixes missing dependencies in example and checks gcc directly for architecture
  • Contributors: robbiefish

2.0.2 (2021-08-30)

  • Fixes cmake warnings and updates maintainers
  • Contributors: robbiefish

2.0.1 (2021-08-24)

  • Moves submodules to accomodate ROS build farm
  • Contributors: Rob Fisher

2.0.0 (2021-08-24)

  • Optionally polls and waits for device to exist before trying to connect
  • Adds tolerance for streaming devices on startup by retrying connections until the device can be communicated with
  • Moves common code to submodule to reduce code duplication
  • Renames packages to be compatible with ROS build farm
  • Gracefully exits on device disconnect
  • Contributors: Rob Fisher

1.1.4 (2021-07-30)

  • Installs MSCL from CMake to hopefully allow this package to be built in the buildfarm
  • Merge pull request #70 from ori-drs/master [ros_mscl] Turn filter_data_rate and imu_data_rate into an argument
  • [ros_mscl] Turn filter_data_rate and imu_data_rate into an argument
  • Eliminated build warnings
  • Fixed a bug that wouldn\'t allow the rtk dongle to be enabled as it was using the wrong variable to enable it.
  • See changelog
  • Added aiding measurement summary for each GNSS (GQ7 only) Added MSCL version output when node starts
  • Merge pull request #50 from civerachb-cpr/master Add an arg to enable setting NED/ENU frame parameter
  • Add an arg to enable setting NED/ENU frame parameter
  • Contributors: Chris Iverach-Brereton, Nathan Miller, Wolfgang Merkt, nathanmillerparker, robbiefish

1.1.3 (2021-04-21)

  • Removed duplicate Filter LLH Pos entry in message format Preparing for release on Bloom
  • Merge pull request #49 from civerachb-cpr/rosdep-fix Add tf2_geometry_msgs as a dependency
  • Add tf2_geometry_msgs as a dependency
  • Merge pull request #48 from civerachb-cpr/master Make frame IDs configurable
  • Add args for all of the frame ids to allow them to be modified when launching. Keep the old static values as the defaults.
  • Added frame ids back in to not break existing configurations
  • Added a flag to set ENU as the local reference frame Moved sensor2vehicle frame transformation setting code to occur if filter data is not enabled See changelog for more info
  • Added user notifications in the case a command isn\'t supported by a device. Added support for the speedometer lever arm offset command
  • Corrected description in launch file to point out the quaternion version of the sensor2vehicle frame transformation is not currently supported on the GQ7
  • Added ROS_INFO/ROS_ERROR reporting for setting sensor2vehicle frame transformation... had a silent error for the quaternion version on the GQ7.
  • Added the filter GPS timestamp packet to the configured messages.
    • Driver modified to support MSCL version 61.1.6
    • Fixed missing boolean set for RTK status message publishing
  • Timestamp change: 1. Launch file setting \"use_device_timestamp\" (bool) created to allow user to select between device generated timestamp and packet received time (generated using PC time upon packet reception.)

    • Some applications require the PC received time to sync with other packages

    - Some applications require the device generated timestamp for accurate time of when the data was generated Hopefully, this satisfies both needs.

  • Merge pull request #36 from arpg/master Fixed issue including mscl_msgs

  • Fixed issue including mscl_msgs

  • Merge pull request #34 from CaptKrasno/msg Moved Messages to Separate Package and renamed them to match ros convention

  • Merge branch \'master\' into msg

  • Warning: Contains breaking change to /nav/odom message! Code cleanup, new features, bug fixes See changelog for complete list of changes

  • Separated Messages into a second package and changed naming to match ros convention

  • Merge remote-tracking branch \'upstream/master\'

  • Merge pull request #30 from CaptKrasno/gps_corr Added support for gps_correlation_timestamp packet

  • changed default value for m_publish_gps_corr to false

  • Merge branch \'master\' into gps_corr

  • Merge pull request #31 from CaptKrasno/gravity redefined g according to the spec

  • redefined g according to the spec

  • Added support for gps_correlation_timestamp packet

  • Modified filter, GNSS, and RTK timestamp handling to disregard valid flags (to match IMU handling)

  • Added IMU GPS timestamp as a default data setup quantity. Removed IMU timestamp validity check so time still streams prior to GPS lock.

  • Fixed bug preventing device report service from working on a GQ7.

  • Added support for raw binary file output and RTK status message (see changelog for details)

  • Added PPS Source, GPIO Config, and external GPS time updating

  • Added feature checking for filter reset and imu category

  • Fixed driver error that tried to publish magnetometer data when it is not present

  • 1) Added device Idle prior to shutdown to play nice across host power cycles 2) Fixed flags used to determine valid time for GNSS time message

  • Fixed time reference output to use ROS time for header timestamp

  • sensor_msgs::TimeReference added per user request

  • Added a resume command at the end of device setup as the GQ7 needs it.

  • 1) Changed GQ7 filter init alignment selector to a bitfield in the example launch file 2) Fixed quaternion sensor2vehicle frame rotation (negated the indices instead of the values by accident)

  • See changelog for full details. Added support for GQ7 Changed \"GPS\" topic to \"GNSS1\" and added \"GNSS2\" Refactored code

  • Added Device Settings service: Supports function selectors: 3 (Save), 4 (Load Saved), 5 (Load Defaults)

  • Added nav filter heading state feedback

  • Only doing device_status_callback() at 1 Hz now

  • Fully filled-out device status message

  • Added missing system timer to device status message

  • Added a nav heading message to easily interpret current filter heading

  • Fixed firmware version number reporting in device_report service

  • 1) Fixed missing CMakeList services 2) Updated \"Get\" services to output data in response (still being tested)

  • 1) Changes to CMakeLists committed (changes were made previously, but didn\'t update for unknown reasons) 2) Removed unused files

  • Launch file didn\'t commit in previous attempts: 1) Cleaned-up the file 2) Renamed the frames for more clear indication of origin

  • 1) Code restructured and commented more fully 2) Quaternions now correct and relative to NED frame

  • Changes to cleanup driver: 1) Services renamed for better interpretation of functionality 2) Quaternion now output correctly (i.e. wrt NED frame) 3) Frame definitions changed to represent NED frame

  • Update microstrain_3dm.cpp Adjusted gyro bias capture to 10 seconds

  • Update microstrain_3dm.cpp

  • Update microstrain_3dm.cpp

  • Merge pull request #15 from allenh1/get-set-transform-service-improvements Get/Set Transform Service Improvements

  • Merge pull request #16 from allenh1/store-mscl-as-unique-ptr Store msclInternalNode as a std::unique_ptr<mscl::InertialNode>

  • Use the msclInertialNode pointer to check supported commands

  • Store the mscl::InertialNode as a std::unique_ptr, and remove unused variable from diagnostic updater

  • Add a service call to get the full transform from sensor to vehicle frame

  • Replace empty destructor with default keyword

  • Rename vehicle translation and rotation offset setting services to better match their function

  • Remove unused service

  • Fixed sensor to vehicle frame services

  • Added ZUPT services

    • cmded_ang_rate_zupt
    • cmded_vel_zupt
    • set_heading_source
    • get_zero_velocity_update_threshold

    - set_zero_velocity_update_threshold added optional parameters - velocity_zupt_topic - angular_zupt_topic

  • Added new estfilter channels

  • Updated frames

  • Added header info to mag msg

  • new fields

  • Custom message for filter status

  • New fields

  • New Fields

  • Update microstrain_3dm.cpp

  • Publishes nav_status

  • device_setup parameter for pre-configured nodes

  • Change heading_source default value

  • Removed structured bindings No longer requires support for c++17

  • Switched to device and received timestamps

  • Added heading_source parameter

  • Added heading_source parameter

  • Added /filtered/imu/data

  • Added /filtered/imu/data

  • Added realpath to Connection

  • Update Status Messages Updated status reporting to list only supported diagnostic features. This requires mscl version 55.0.1 or later.

    • move driver package content to ros_mscl folder
    • add name argument to microstrain.launch file to specify the namespace (default: gx5)
    • update README.md
    • add basic subscriber example (C++)
  • Contributors: Chris Iverach-Brereton, Hunter L. Allen, Kristopher Krasnosky, Nathan Miller, harelb, mgill, nathanmillerparker, rdslord

0.0.4 (2019-10-07)

0.0.3 (2019-08-05)

0.0.2 (2019-05-28)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/microstrain.launch
      • name [default: gx5]
      • port [default: /dev/ttyACM0]
      • baudrate [default: 115200]
      • debug [default: false]
      • diagnostics [default: true]
      • imu_frame_id [default: sensor]
      • imu_data_rate [default: 100]
      • filter_data_rate [default: 10]
      • gnss1_frame_id [default: gnss1_antenna_wgs84]
      • gnss2_frame_id [default: gnss2_antenna_wgs84]
      • filter_frame_id [default: sensor_wgs84]
      • filter_child_frame_id [default: sensor]
      • use_enu_frame [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged microstrain_inertial_driver at answers.ros.org