Package Summary

Tags No category tags.
Version 0.0.3
License MIT
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version master
Last Updated 2019-12-19
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The microstrain_mips package provides a driver for the LORD/Microstrain 3DM_GX5_XX GPS-aided IMU sensor.

Additional Links


  • Brian Bingham


  • Brian Bingham


Interface software, including ROS node, for Microstrain IMUs.

Function GX5-45 GX5-25
mip_system_com_mode X X
device_report X X
mip_3dm_cmd_coning_sculling_compensation X X
set_accel_bias X X
get_accel_bias X X
set_gyro_bias X X
get_gyro_bias X X
gyro_bias_capture X X
set_hard_iron_values X X
get_hard_iron_values X X
set_soft_iron_matrix X X
get_soft_iron_matrix X X
set_complementary_filter X X
get_complementary_filter X X
set_filter_euler X X
set_filter_heading X X
set_sensor_vehicle_frame_trans X X
get_sensor_vehicle_frame_trans X X
set_reference_position X X
get_reference_position X X
set_coning_sculling_comp X X
get_coning_sculling_comp X X
set_estimation_control_flags X X
get_estimation_control_flags X X
mip_filter_zero_velocity_update_control X X
set_zero_angle_update_threshold X X
get_zero_angle_update_threshold X X
set_tare_orientation X X
set_accel_noise X X
get_accel_noise X X
set_gyro_noise X X
get_gyro_noise X X
set_mag_noise X
get_mag_noise X
set_gyro_bias_model X X
get_gyro_bias_model X X
set_accel_adaptive_vals X X
get_accel_adaptive_vals X X
get_mag_adaptive_vals X
set_mag_adaptive_vals X
get_basic_status X X
get_diagnostic_report X X
set_dynamics_mode X
get_dynamics_mode X
set_sensor_vehicle_frame_offset X
get_sensor_vehicle_frame_offset X
set_accel_bias_model X
get_accel_bias_model X
set_mag_dip_adaptive_vals X
get_mag_dip_adaptive_vals X

Changelog for package microstrain_mips

0.0.3 (2019-08-05)

  • Made diagnostic_updater build dep as well.
  • Merge pull request #21 from samkys/cleanup Cleanup
  • Add roslint and cleaned up files accordingly.
  • Cleaned up indentation levels, removed tabs and replaced with spaces, and updated curly brace locations according to: section 6.
  • Cleanup that was forgotten in last commit.
  • Added static IMU message covariance population via parameters.
  • Contributors: Sam, Tony Baltovski

0.0.2 (2019-05-28)

  • Merge pull request #18 from ljazzal/master Harmonized package name throughout the source code
  • renamed remaining \"microstrain_3dm_node\"
  • renamed microstrain_3dm to microstrain_mips
  • Merge pull request #16 from wxmerkt/wxm-fix-compilation Fix compilation (set exported targets dependency)
  • Fix compilation (set exported targets dependency)
  • Merge pull request #15 from ljazzal/master Enabled diagnostic updater for microstrain ROS driver extension
  • Merge pull request #14 from wxmerkt/wxm-fix-install Do not install udev
  • changed namespace of microstrain sensor node
  • Do not install udev Fixes build in install workspace after #11
  • fixed status callback
  • minor fixes
  • minor fixes: naming convention
  • Changed default port name
  • potentially fixing diagnostic updater
  • Replaced several services with Trigger srv
  • Added comments
  • Minor changes to default settings
  • edited device status function
  • Edited cmakelists
  • Adding to readme
  • Adding to readme
  • Testing readme additions
  • Testing readme additions
  • Testing readme additions
  • deleted extra variables
  • Diagnostic reporting working on GX5-25
  • Latest code
  • Added diagnostics, commenting
  • Added gx5-45 files
  • Turned basic status into mssg
  • having trouble with device status function
  • Added srvs for functions that were previously not working.
  • added more services.
  • Added basic and diagnostic status reporting through minor changes to sdk.
  • Changed names to generic GX5.
  • added srvs to change settings.
  • minor edits
  • Merge pull request #1 from shreyasubbu/minor-changes Minor changes for SetBias service.
  • Minor changes for SetBias service.
  • can compile, but does not work
  • 1st commit
  • Merge pull request #11 from ros-drivers/udev Installed udev rules for release. Great - thank you.
  • Installed udev rules for release.
  • Merge pull request #8 from pvechersky/feature/launch_args Adding arguments to launch files
  • Merge pull request #10 from wxmerkt/master Turn off MIPSDK compile time warnings. Thank you!
  • Turn off MIPSDK compile time warnings.
  • Removing hardware-specific kf and pioneer launch files
  • Adding arguments to launch files, making microstrain.launch more generic
  • Merge pull request #7 from pvechersky/feature/package_installation Adding the installation step to CMakeLists.txt
  • Adding the installation step to CMakeLists.txt
  • Merge branch \'gx25\'
  • Merge pull request #3 from clearpathrobotics/gx25 Gx25 launch file and udev rule
  • Create 99-microstrain.rules Creates a symlink in /dev when a Microstrain device is connected.
  • Update microstrain_25.launch removed references to GX4 now looks for the \"/dev/microstrain\" symlink created by the udev rule changed the frame_ids to more conventional or useful names
  • bumped up spin rate
  • Merge branch \'master\' into gx25
  • adding pioneer launch
  • Set spin rate as a function of message updates. Addressed sigterm issue
  • prototype driver for -25
  • adding kf launch file
  • adding kf specific launch file
  • futzing with quat
  • Changing conversion from MIP quaterinion to tf2
  • Changing conversion from MIP quaterinion to tf2
  • Changing conversion from MIP quaterinion to tf2
  • Changing conversion from MIP quaterinion to tf2
  • Changing conversion from MIP quaterinion to tf2
  • Changing conversion from MIP quaterinion to tf2
  • adding debug for filter state
  • adding debug for filter state
  • adding debug for filter state
  • adding debug for filter state
  • adding debug for filter state
  • bug fix
  • adding kf launch file
  • debugging on kf
  • debugging on kf
  • resolving conflicts
  • docs
  • cleaning package.xml
  • adding licensing information
  • adding wiki file
  • adding explicit link to cmake for hydro
  • Merge branch \'master\' of
  • adding dependency
  • Update
  • adding a transform and cleaning up dependencies
  • Update
  • Merge branch \'master\' of
  • Update
  • incremental progress on cleaning up settings
  • reorganizing ode and includes - separating library and node executable.
  • reorganized include directory
  • Update
  • added many functions, parameters and a reset_kf service
  • Update
  • Update
  • Update
  • publishing up to 500 Hz!
  • adding a publish test
  • Merge branch \'master\' of
  • functional version of ROS node, but no publishing yet
  • adding ROS node - compiles
  • Update
  • Merge branch \'master\' of
  • working version
  • Update
  • compilable version with user-devined port string
  • reorg
  • Merge branch \'master\' of
  • working version, but all in C. To use the serial library will need to convert to C++
  • Update
  • Create
  • incuding the MIP SDK files
  • working version that sorces the MIP SDK
  • Initial commit
  • Contributors: Administrator, Bingham, Brian S, Brian Bingham, FRL, Field Robotics Lab, Jeff Schmidt, L. James Azzalini, Shreya Subbu, Shreya Subramaniam, Tony Baltovski, Wolfgang Merkt, ljazzal, pvechersky

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