Changelog for package microstrain_inertial_driver

4.5.0 (2024-11-07)

• ROS submodule update 11 07 2024 (#363)
• Contributors: Rob

4.4.0 (2024-10-07)

• ROS submodule update 10/07/2024 (#356)
• ROS submodule update 08/23/2024 (#349)
• Contributors: Rob

4.3.0 (2024-05-15)

• Updates CV7 INS example yaml ([https://github.com/LORD-MicroStrain/microstrain_inertial/pull/331]{.title-ref} _)
• Updates submodule (#328)
  • Adds ability for ROS2 implementation to be a non-lifecycle node microstrain_inertial_driver_common#68
  • Remove dongle version check microstrain_inertial_driver_common#72
  • Updates MIP SDK to fully support CV7-INS microstrain_inertial_driver_common#73
  • Waits for GNSS antenna transforms instead of erroring if they cannot be found microstrain_inertial_driver_common#74
  • Fixes the gnss_state in human readable status microstrain_inertial_driver_common#75
• Contributors: Rob

4.2.0 (2024-04-04)

• Updates submodule to be in line with ROS2
• Contributors: Rob Fisher

4.1.0 (2024-04-02)

• ROS updates microstrain_inertial_driver_common submodule (#315)
• Moves meshes and urdf files to seperate package (#313)
• Contributors: Rob

4.0.1 (2024-03-12)

• Updates microstrain_inertial_driver_common submodule (#307)
• Resets forced Cmake variables properly (#299)
• Contributors: Rob

4.0.0 (2024-01-26)

• ROS Standardize and update to work better with ROS standard tools (#294)
• Contributors: Rob

3.2.1 (2024-01-26)

• Fixes math to properly put the velocity into the sensor frame when using ENU (#292)
• Contributors: Rob

3.2.0 (2023-12-21)

• Updates submodule with GNSS signal configuration options (#288)
• Contributors: Rob

3.1.0 (2023-07-25)

• Adds several PRs from submodule (#263)
• Updates submodule to fix TF warning (#262)
• ROS Turns on antenna calibration by default, and publishes the amount corrected by (#237)
• Feature/ros relative position base station (#235)
• Contributors: Rob

3.0.1 (2023-02-10)

• Publishes after every packet to fix lower data rate problem (#229)
  • Publishes after every packet to fix lower data rate problem
• Updates submodule with microseconds to nanoseconds fix (#227)
• ROS Fixes odom data rate mapping to refer to the correct topic (#224)
  • Fixes odom data rate mapping to refer to the correct topic
• Contributors: Rob

3.0.0 (2023-01-11)

• Fixes for devices that do not support the extended descriptor set command in ROS (#216)
  • Fixes for devices that do not support the extended descriptor set command in ROS
• Validates that all publishers are documented on the wiki for ROS (#211)
  • Fixes time_ref topics and validates that wiki has all publishers documented
• Adds IMU overrange status publishers for ROS (#207)
  • Adds IMU overrange status publishers for ROS
• Adds RF error detection publishers for ROS (#206)
  • Adds RF error detection to ROS
• Adds SBAS info publishers for ROS (#204)
  • Adds SBAS info publishers for ROS
• Adds SBAS settings support to ROS (#202)
  • Adds SBAS settings support to ROS
• ROS Implements the filter lever arm offset command (#196)
  • Adds ability to configure filter lever arm offset
• Feature/ros nmea main port (#192)
  • Adds ability to parse and publish NMEA from the main port
• Feature/ros mip sdk (#191)
  • Converts to use the mip_sdk instead of MSCL
  • BREAKING Removes publish* configuration options and instead relies on more granular *_data_rate options to enable/disable data streams
  • Switches to compile as a static binary
• Contributors: Rob

2.7.1 (2022-11-09)

• Updates submodule with CV7 mag aiding bugfix (#188)
• Enable usage of substitution arguments in override params YAML file. (#187)
• ROS Do not error when the device does not support antenna offset or S2V commands (#182)
  • Do not error when the device does not support antenna offset or S2V commands
• Contributors: Joey Yang, Rob

2.7.0 (2022-09-23)

• ROS serial improvements (#177)
  • Adds logging loop every second that will print the number of bytes read and written
  • Adds ability to configure the baudrate on the device using [set_baud]{.title-ref}
  • Changes [*_data_rate]{.title-ref} fields to floating point numbers to allow users to configure data rates at non whole numbers
  • Fixes bug where a quaternion would be indexed into before it was populated
• ROS Updates params file to note required changes for devices, and corrects incorrect documentation (#170)
• Contributors: Rob

2.6.0 (2022-05-25)

• ROS Fixes NMEA parsing to not fail when we find certain MIP packets (#159)
  • Fixes NMEA parsing to not fail when we find certain MIP packets
• Runs roslint on the buildfarm (#154)
• Fixed reporting of filter pitch and yaw when using ENU frame for ROS (#150)
• Adds velocity covarianve for the GNSS odometry message for ROS (#149)
• Adds ability to publish velocity in the vehicle frame for ROS (#145)
• ROS More granular data rates (#131)
  • Adds more granular data rates to ROS
• ROS Check supported aiding measurements (#140)
  • Checks if the device supports the requested aiding measurements before enabling/disabling
• Adds ability to switch between compensated and linear acceleration for filtered IMU (#128)
• Contributors: Lucas Walter, robbiefish

2.5.1 (2022-02-15)

• Configures GNSS Antenna offset even if publish_gnss* is False (#124)
• Contributors: robbiefish

2.5.0 (2022-01-27)

• Only attempts to publish GNSS aiding status if the pointer has been initialized
• Added RTK v2 support
  • Upgraded to MSCL 63.1.0
• Adds ability to use ROS time when populating messages
• Fixes "does not support" logs
• Fixed submodule initialization
• Contributors: dacuster, robbiefish

2.4.1 (2022-01-06)

• Deprecated args will no longer override params_file unless actually used
• Contributors: robbiefish

2.4.0 (2022-01-05)

• BREAKING: Changes default namespace from /gx5 to / which is more generic to all usecases as customers are often not using a gx5 device
• BREAKING: Changes the name argument to namespace which is more descriptive of what it was doing
• Moves most launch file parameters to yml file and allows user to override all default parameters by specifying a different yml file via the params_file argument
• Adds new argument node_name to launch file that allows users to change the name of the node
• Adds documentation for each launch file argument
• Contributors: robbiefish

2.3.0 (2021-12-22)

• BREAKING: Updates device_report_service to return the device information instead of just printing it
• Publishes Aiding Measurement Summary messages to topic nav/aiding_summary
• Publishes Fix Info messages to topic gnss1/fix_info and gnss2/fix_info
• Contributors: robbiefish

2.2.1 (2021-12-09)

• Defaults RTCM subscription and NMEA publisher to false
• Contributors: robbiefish

2.2.0 (2021-12-03)

• Adds set filter speed lever arm service to allow users to configure Measurement Speed Lever Arm at runtime with a service call
• Subscribes to external speed measurements
• Adds ability to configure hardware odometer at config time by sending the Odometer Settings command based on launch config
• Adds RTCM subscriber that will subscribe to RTCM corrections as mavros_msgs/RTCM messages and send them to the GQ7 through the aux port
• Adds NMEA publisher that will read NMEA sentences from the GQ7 aux port and publish them as nmea_msgs/Sentence messages to a topic
• Updates to use FACTORY_STREAMING_MERGE instead of manually casting the hex value when factory streaming is enabled
• Updates udev rules to differentiate between main and aux ports
• Contributors: ianmooreparker, robbiefish

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)