- ROS submodule update 11 07 2024 (#363)
- Contributors: Rob
- Updates CV7 INS example yaml (#331 _)
- 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
- Updates submodule to be in line with ROS2
- Contributors: Rob Fisher
- ROS updates microstrain_inertial_driver_common submodule (#315)
- Moves meshes and urdf files to seperate package (#313)
- Contributors: Rob
- Updates microstrain_inertial_driver_common submodule (#307)
- Resets forced Cmake variables properly (#299)
- Contributors: Rob
- ROS Standardize and update to work better with ROS standard tools (#294)
- Contributors: Rob
- Fixes math to properly put the velocity into the sensor frame when using ENU (#292)
- Contributors: Rob
- Updates submodule with GNSS signal configuration options (#288)
- Contributors: Rob
- 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
- 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
- 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
- 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
- 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 * Changes *_data_rate 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
- 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
- Configures GNSS Antenna offset even if publish_gnss* is False (#124)
- Contributors: robbiefish
- 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
- Deprecated args will no longer override params_file unless actually used
- Contributors: robbiefish
- 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
- 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
- Defaults RTCM subscription and NMEA publisher to false
- Contributors: robbiefish
- 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
- 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
- Update MSCL version to fix ROS buildfarm errors hopefully
- Contributors: robbiefish
- Upgrade CMake version and removes unused include in examples
- Contributors: robbiefish
- Fixes missing dependencies in example and checks gcc directly for architecture
- Contributors: robbiefish
- Fixes cmake warnings and updates maintainers
- Contributors: robbiefish
- Moves submodules to accomodate ROS build farm
- Contributors: Rob Fisher
- 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
- 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
- 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
- Added device Idle prior to shutdown to play nice across host power cycles
- 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.
- Changed GQ7 filter init alignment selector to a bitfield in the example launch file
- 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
- Fixed missing CMakeList services
- Updated "Get" services to output data in response (still being tested)
- Changes to CMakeLists committed (changes were made previously, but didn't update for unknown reasons)
- 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
- Code restructured and commented more fully
- 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