Description

Collection of simple examples to get started using the microstrain_inertial_driver.

Table of Contents

• Common Steps
• Device Examples
  • CV7-INS / GV7-INS
  • CV7 / GV7
  • GQ7
  • GX5-GNSS / CX5-GNSS
  • GX5-AHRS / CX5-AHRS
  • GX5-AR / CX5-AR
• Other Examples
  • CV7-INS / GV7-INS with NMEA over aux

Common Steps

For all the below examples, you should make sure you take the following steps before running them:

1. Install the udev rules (This should only be done once and if using the ROS package index, these will be installed automatically)
2. Connect your device.
3. Modify the port and baudrate parameters in the .yml file for the example you are running to point to the port your device is connected to. This is especially important if using serial instead of USB.
4. Install or build the microstrain_inertial_examples and microstrain_inertial_driver packages
5. Source your setup.bash
   1. If building from source, run: source install/setup.bash after building
   2. If installing from the ROS package index, run: source /opt/ros/<ROS Version>/setup.bash after installing

Device Examples

This package contains some example launch files to show users a simple starting configuration when using different devices.

CV7-INS / GV7-INS

NOTE: This example works for the 3DM-CV7-INS, and 3DM-GV7-INS

The CV7-INS example contains a simple example of outputting relative position data from a CV7-INS and displaying that data in rviz. This example also shows how one would input external position and velocity into the sensor.

To run this example, run the following command after doing the common steps:

roslaunch microstrain_inertial_examples cv7_ins.launch

This example contains the following files:

• launch/cv7_ins.launch
• config/cv7_ins/cv7_ins.yml
• config/cv7_ins/display.rviz

CV7 / GV7

NOTE: This example works for the 3DM-CV7-AR, 3DM-CV7-AHRS, 3DM-GV7-AR, and 3DM-GV7-AHRS.

The CV7 example contains a simple example of outputting orientation, angular and linear velocity from a CV7 and displaying that data in rviz.

To run this example, run the following command after doing the common steps:

roslaunch microstrain_inertial_examples cv7.launch

This example contains the following files:

• launch/cv7.launch
• config/cv7/cv7.yml
• config/cv7/display.rviz

GQ7

NOTE: This example works for the 3DM-GQ7

The GQ7 example contains a simple example of outputting global and relative position data from a GQ7 and displaying that data in rviz. This example also assumes that the user will be using a 3DM-RTK connected to the GQ7 aux port, but can be tweaked to not require the 3DM-RTK.

To run this example

1. Do the common steps
2. Ensure that your GQ7 has both antennas connected. See the microstrain Antenna Installation page for more help with this.
3. Update gnss1_antenna_offset and gnss2_antenna_offset in config/gq7/gq7.yml to your antenna offsets
4. Run the following command:

roslaunch microstrain_inertial_examples gq7.launch

This example contains the following files:

• launch/gq7.launch
• config/gq7/gq7.yml
• config/gq7/display.rviz

GX5-GNSS / CX5-GNSS

NOTE: This example works for the 3DM-GX5-GNSS (3DM-GX5-45), and 3DM-CX5-45 (3DM-CX5-45)

The GX5-GNSS example contains a simple example of outputting global and relative position data from a GX5-GNSS and displaying that data in rviz.

1. Do the common steps
2. Ensure that your GX5-GNSS has it’s antenna connected. See the microstrain Antenna Installation page for more help with this.
3. Update gnss1_antenna_offset in config/gx5_45/gx5_45.yml to your antenna offset
4. Run the following command:

roslaunch microstrain_inertial_examples gx5_45.launch

GX5-AHRS / CX5-AHRS

NOTE: This example works for the 3DM-GX5-AHRS (3DM-GX5-25), and 3DM-CX5-AHRS (3DM-CX5-25)

The GX5-AHRS example contains a simple example of outputting orientation, angular and linear velocity from a GX5-AHRS and displaying that data in rviz.

To run this example, run the following command after doing the common steps:

roslaunch microstrain_inertial_examples gx5_25.launch

This example contains the following files:

• launch/gx5_25.launch
• config/gx5_25/gx5_25.yml
• config/gx5_25/display.rviz

GX5-AR / CX5-AR

NOTE: This example works for the 3DM-GX5-AR (3DM-GX5-15), and 3DM-CX5-AR (3DM-CX5-15)

The GX5-AR example contains a simple example of outputting orientation, angular and linear velocity from a GX5-AR and displaying that data in rviz.

To run this example, run the following command after doing the common steps:

roslaunch microstrain_inertial_examples gx5_15.launch

This example contains the following files:

• launch/gx5_15.launch
• config/gx5_15/gx5_15.yml
• config/gx5_15/display.rviz

Other Examples

Other assorted examples users may find useful

CV7-INS / GV7-INS with NMEA over aux port

NOTE: This example works for the 3DM-CV7-INS, and 3DM-GV7-INS and requires an external GNSS receiver such as the SparkFun ZED-F9P

This example is similar to the CV7-INS / GV7-INS, but instead of getting the data over the ROS network, the data will be provided by GPIO pins setup as an “aux” port on the device. This example follows the wiring setup provided in the NMEA Input page on the MicroStrain manual.

To run this example, run the following command after doing the common steps:

roslaunch microstrain_inertial_examples cv7_ins_nmea_aux.launch

This example contains the following files:

• launch/cv7_ins_nmea_aux.launch
• config/cv7_ins_nmea_aux/cv7_ins.yml
• config/cv7_ins_nmea_aux/display.rviz

Changelog for package microstrain_inertial_examples

4.5.0 (2024-11-07)

4.4.0 (2024-10-07)

• ROS Adds example of providing NMEA over CV7-INS aux port (#351)
  • Adds ROS CV7-INS NMEA aux port example
  • Adds example files to README
• Contributors: Rob

4.3.0 (2024-05-15)

• Updates CV7 INS example yaml (#331)
• Contributors: Rob

4.2.0 (2024-04-04)

4.1.0 (2024-04-02)

4.0.1 (2024-03-12)

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)

3.2.0 (2023-12-21)

3.1.0 (2023-07-25)

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)