Install

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 noetic:

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.

Submodules

Important

This repo takes advantage of git submodules in order to share code between ROS versions. Extra care must be taken when performing git commands.

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

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

4. 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.