Description

Interface (driver) software, including ROS node, for inertial sensors from MicroStrain by HBK, developed in Williston, VT.

Implemented using the MicroStrain Inertial Protocol SDK (mip_sdk)

Table of Contents

• ROS Wiki
• ROS vs ROS2 versions
• Packages
• Install Instructions
  • Buildfarm
  • Source
  • Udev Rules
• Building From Source
• Run Instructions
  • Single Device
  • Multiple Devices
• Docker Development
  • VSCode
  • Make
• Shared Codebases
• Previous Versions
• Licenses

ROS Wiki

For more information on the data published and services available see our ROS wiki page

ROS vs ROS2 Versions

Note that this branch contains the ROS2 implementation for the packages. If you are looking for the ROS version, you should go to the ros branch

Packages

This repo contains the following packages:

• microstrain_inertial_driver – ROS node that will communicate with the devices
• microstrain_inertial_msgs – Collection of messages produced by the microstrain_inertial_driver node
• microstrain_inretial_examples – Collection of examples that show how to interact with the microstrain_inertial_driver node. Currently contains one simple C++ and python subscriber node
• microstrain_inertial_rqt – Collection of RQT plugins to view the status of inertial devices when running the microstrain_inertial_driver

Install Instructions

Buildfarm

As of v2.0.5 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 galactic or humble:

Driver:

sudo apt-get update && sudo apt-get install ros-ROS_DISTRO-microstrain-inertial-driver

RQT:

sudo apt-get update && sudo apt-get install ros-ROS_DISTRO-microstrain-inertial-rqt

For more information on the ROS distros and platforms we support, please see index.ros.org

Source

If you need to modify the source of this repository, or are running on a platform that we do not support, you can build from source by following the Building From Source guide below.

IMPORTANT NOTE ABOUT CLONING

This repo takes advantage of git submodules in order to share code between ROS versions. When cloning the repo, you should clone with the --recursive flag to get all of the submodules.

If you have already cloned the repo, you can checkout the submodules by running git submodule update --init --recursive from the project directory

The CMakeLists.txt will automatically checkout the submodule if it does not exist, but it will not keep it up to date. In order to keep up to date, every time you pull changes you should pull with the --recurse-submodules flag, or alternatively run git submodule update --recursive after you have pulled changes

Building from source

1. Install ROS2 and create a workspace: Configuring Your ROS2 Environment

2. Clone the repository into your workspace:

    git clone --recursive --branch ros2 https://github.com/LORD-MicroStrain/microstrain_inertial.git ~/your_workspace/src/microstrain_inertial
    

1. Install rosdeps for this package: rosdep install --from-paths ~/your_workspace/src -i -r -y

2. Build your workspace:

    cd ~/your_workspace
    colcon build
    source ~/your_workspace/install/setup.bash
    

The source command will need to be run in each terminal prior to launching a ROS node.

Udev Rules

NOTE: If installing from the buildfarm, the udev rules will be installed automatically

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