Microstrain Examples

A example listener node is provided in to demonstrate a very basic C++ node that subscribes to and displays some of the data published by the ros_mscl driver.

Over time we will provide more robust and varied examples in both C++ and Python, but in the meantime we hope this helps in quickly testing to ensure everything is installed and working properly!

Prerequisite: completed setup and build steps found here.

Create the example package

1. If the entire microstrain_inertial package, including the microstrain_inertial_examples directory, is not already there move the microstrain_inertial_examples package to the your_workspace/src folder.

2. Locate and register the package to the workspace: rospack find microstrain_inertial_examples

3. Build your workspace:

   cd ~/your_workspace
   catkin_make
   source ~/your_workspace/devel/setup.bash
   

   The source command may need to be run in each terminal prior to launching a ROS node. You may need to change the permissions on the listener.py file if it is failing to run.

Launch the listener node

Launch the inertial device node:

roslaunch microstrain_inertial_node microstrain.launch

In a separate terminal, launch the example listener node:

roslaunch microstrain_inertial_examples listener_cpp.launch

Optional launch parameters: - name: the namespace of the listener node, default: listener_cpp - device: the namespace of the inertial device node to subscribe to, default: gx5

Example: Launch two listener subscribed to different namespaces

In two different terminals:

roslaunch microstrain_inertial_examples listener_cpp.launch name:=listener1234 device:=sensor1234

roslaunch microstrain_inertial_examples listener_cpp.launch name:=bestListener device:=bestSensor

This will launch two nodes that listen to IMU data in different namespaces: - listener1234, subscribed to: /sensor1234/imu/data - bestListener, subscribed to: /bestSensor/imu/data

Test this by changing the namespace of the inertial device node: 1. Launch sensor1234:

    roslaunch microstrain_inertial_driver microstrain.launch name:=sensor1234
Data will begin to stream in only the listener1234 terminal.

1. Stop sensor1234

2. Launch bestSensor:

   roslaunch microstrain_inertial_driver microstrain.launch name:=bestSensor
   

   Data will begin to stream in only the bestListener terminal.

Changelog for package microstrain_inertial_examples

3.0.1 (2023-02-10)

3.0.0 (2023-01-11)

2.7.1 (2022-11-09)

2.7.0 (2022-09-23)

2.6.0 (2022-05-25)

2.5.1 (2022-02-15)

2.5.0 (2022-01-27)

2.4.1 (2022-01-06)

2.4.0 (2022-01-05)

2.3.0 (2021-12-22)

2.2.1 (2021-12-09)

2.2.0 (2021-12-03)

2.1.0 (2021-11-12)

2.0.5 (2021-10-19)

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)

2.0.0 (2021-08-24)

• Consolidates examples to single package
• Contributors: Rob Fisher

1.1.4 (2021-07-30)

• Merge branch \'master\' of https://github.com/LORD-MicroStrain/ROS-MSCL into develop
• Properly installs examples to match instructions
• Contributors: robbiefish

1.1.3 (2021-04-21)

• Removed duplicate Filter LLH Pos entry in message format Preparing for release on Bloom
• • 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: Nathan Miller, mgill

0.0.4 (2019-10-07)

0.0.3 (2019-08-05)

0.0.2 (2019-05-28)