* 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++)

Examples/README.md

@@ -0,0 +1,56 @@
+# ROS-MSCL Examples Readme
+
+A example listener node is provided in to demonstrate a very basic C++ node that subscribes to and displays some of the data published by the ros_mscl driver.
+
+Over time we will provide more robust and varied examples in both C++ and Python, but in the meantime we hope this helps in quickly testing to ensure everything is installed and working properly!
+
+Prerequisite: completed setup and build steps found [here](https://github.com/LORD-MicroStrain/ROS-MSCL).
+
+#### Create the example package
+1. Move the `ros_mscl_cpp_example` package to the `your_workspace/src` folder.
+
+2. Locate and register the package to the workspace: `rospack find ros_mscl_cpp_example`
+
+3. Build your workspace:
+
+        cd ~/your_workspace
+        catkin_make
+        source ~/your_workspace/devel/setup.bash
+   The source command may need to be run in each terminal prior to launching a ROS node.
+
+
+#### Launch the listener node
+Launch the inertial device node:
+
+    roslaunch ros_mscl microstrain.launch
+
+In a separate terminal, launch the example listener node:
+
+    roslaunch ros_mscl_cpp_example listener.launch
+
+Optional launch parameters:
+- name: the namespace of the listener node, default: listener_cpp
+- device: the namespace of the inertial device node to subscribe to, default: gx5
+
+
+**Example**: Launch two listener subscribed to different namespaces
+
+In two different terminals:
+
+    roslaunch ros_mscl_cpp_example listener.launch name:=listener1234 device:=sensor1234
+
+    ros_mscl_cpp_example listener.launch name:=bestListener device:=bestSensor
+This will launch two nodes that listen to IMU data in different namespaces:
+- listener1234, subscribed to: /sensor1234/imu/data
+- bestListener, subscribed to: /bestSensor/imu/data
+
+Test this by changing the namespace of the inertial device node:
+1. Launch sensor1234:
+
+        roslaunch ros_mscl microstrain.launch name:=sensor1234
+    Data will begin to stream in only the listener1234 terminal.
+2. Stop sensor1234
+3. Launch bestSensor:
+
+        roslaunch ros_mscl microstrain.launch name:=bestSensor
+    Data will begin to stream in only the bestListener terminal.

Examples/ros_mscl_cpp_example/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ros_mscl_cpp_example)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+)
+
+catkin_package()
+
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+
+add_executable(listener_cpp src/listener.cpp)
+target_link_libraries(listener_cpp ${catkin_LIBRARIES})

Examples/ros_mscl_cpp_example/launch/listener.launch

@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Declare arguments with default values -->
+  <arg name="name" default="listener_cpp" />
+  <arg name="device" default="gx5" />
+
+  <node name="listener_cpp"
+    pkg="ros_mscl_cpp_example"
+    type="listener" output="screen" ns="$(arg name)">
+      <param name="device" value="$(arg device)" type="str" />
+  </node>
+
+</launch>

Examples/ros_mscl_cpp_example/package.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_mscl_cpp_example</name>
+  <version>0.0.0</version>
+  <description>Example listener for Parker LORD Sensing inertial device driver ros_mscl (C++).</description>
+  <maintainer email="[email protected]">mgill</maintainer>
+  <license>MIT</license>
+
+  <url type="website">https://github.com/LORD-MicroStrain/ROS-MSCL</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

Examples/ros_mscl_cpp_example/src/listener.cpp

@@ -0,0 +1,42 @@
+#include "ros/ros.h"
+#include "sensor_msgs/Imu.h"
+
+void imuDataCallback(const sensor_msgs::Imu::ConstPtr& imu)
+{
+	ROS_INFO("Quaternion Orientation:    [%f, %f, %f, %f]", imu->orientation.x, imu->orientation.y, imu->orientation.z, imu->orientation.w);
+	ROS_INFO("Angular Velocity:          [%f, %f, %f]", imu->angular_velocity.x, imu->angular_velocity.y, imu->angular_velocity.z);
+	ROS_INFO("Linear Acceleration:       [%f, %f, %f]", imu->linear_acceleration.x, imu->linear_acceleration.y, imu->linear_acceleration.z);
+
+	// add code here to handle incoming IMU data
+}
+
+int main(int argc, char** argv)
+{
+	// register listener to ROS master
+	ros::init(argc, argv, "listener");
+
+	// get the device name parameter
+	std::string deviceName;
+	ros::NodeHandle params("~");
+	params.param<std::string>("device", deviceName, "gx5");
+	ROS_INFO("Got device param: %s", deviceName.c_str());
+
+	// clear param for future use
+	params.deleteParam("device");
+
+	// create the listener node object
+	ros::NodeHandle n;
+
+	// subscribe to the imu/data topic
+	//Parameters:
+	//   topic - namespace (defined in launch file) and topic name
+	//   queue size - maximum number of messages to buffer
+	//   callback - callback function to handle this data
+	ros::Subscriber sub = n.subscribe(("/" + deviceName + "/imu/data"), 3, imuDataCallback);
+
+	// start listening for data
+	ros::spin();
+
+	return 0;
+}
+

README.md

@@ -7,62 +7,55 @@ MSCL is developed by [LORD Sensing - Microstrain](http://microstrain.com) in Wil
 
 ## Build Instructions
 
-Download and install MSCL at /usr/share
+#### MSCL
+MSCL pre-built packages can be found here: [MSCL Packages](https://github.com/LORD-MicroStrain/MSCL#downloads)
 
-#### Building from source
+Install instructions can be found here: [How to Use MSCL](https://github.com/LORD-MicroStrain/MSCL/blob/master/HowToUseMSCL.md#linux)
+
+If you choose to install MSCL at a location other than /usr/share, [CMakeLists.txt](https://github.com/LORD-MicroStrain/ROS-MSCL/blob/master/CMakeLists.txt) will need to be updated with the install path.
 
-    cd ~/catkin_ws
-    catkin_make
-    source devel/setup.bash
-
-##### Pre-built MSCL Binaries/Packages (v52.2.1)
-Windows:
-[C++](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/mscl_52.2.1_Windows_C++.zip) | 
-[Python 2.7](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/mscl_52.2.1_Windows_Python2.7.zip) |
-[Python 3.6](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/mscl_52.2.1_Windows_Python3.6.zip) |
-[.NET](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/mscl_52.2.1_Windows_DotNet.zip)
-
-Debian:
-  * x64:
-  [C++](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/c++-mscl_52.2.1_amd64.deb) |
-  [Python 2](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/python2-mscl_52.2.1_amd64.deb) |
-  [Python 3](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/python3-mscl_52.2.1_amd64.deb)
-  * arm64:
-  [C++](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/c++-mscl_52.2.1_arm64.deb) |
-  [Python 2](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/python2-mscl_52.2.1_arm64.deb) |
-  [Python 3](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/python3-mscl_52.2.1_arm64.deb)
-  * armhf (Raspbian):
-  [C++](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/c++-mscl_52.2.1_armhf.deb) |
-  [Python 2](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/python2-mscl_52.2.1_armhf.deb) |
-  [Python 3](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/python3-mscl_52.2.1_armhf.deb)
-
-RPM:
-  * x64:
-  [C++](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/c++-mscl-52.2.1_x86_64.rpm) |
-  [Python 2](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/python2-mscl-52.2.1_x86_64.rpm) |
-  [Python 3](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/python3-mscl-52.2.1_x86_64.rpm)
-  * arm64:
-  [C++](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/c++-mscl-52.2.1_aarch64.rpm) |
-  [Python 2](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/python2-mscl-52.2.1_aarch64.rpm) |
-  [Python 3](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/python3-mscl-52.2.1_aarch64.rpm)
-  * CentOS:
-  [C++](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/c++-mscl-52.2.1_x86_64_centos7.6.1810.rpm) |
-  [Python 2](https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/python2-mscl-52.2.1_x86_64_centos7.6.1810.rpm)
-
-If the pre-built packages aren't available on your platform, you can build MSCL from source. This library will search for MSCL at /usr/share.
-
-Instructions can be found here:
-[Building MSCL on Windows](https://github.com/LORD-MicroStrain/MSCL/blob/master/BuildScripts/buildReadme_Windows.md) | 
-[Building MSCL on Linux](https://github.com/LORD-MicroStrain/MSCL/blob/master/BuildScripts/buildReadme_Linux.md)
-
-### Documentation
-
-[How to use MSCL](https://github.com/LORD-MicroStrain/MSCL/blob/master/HowToUseMSCL.md)
-
-[FAQs](https://github.com/LORD-MicroStrain/MSCL/blob/master/FAQs.md)
+#### Building from source
+1. Install ROS and create a workspace: [Installing and Configuring Your ROS Environment](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)
+
+2. Move ros_mscl package to the your_workspace/src folder.
+
+3. Locate and register the ros_mscl package: `rospack find ros_mscl`
+
+4. Build your workspace:
+
+        cd ~/your_workspace
+        catkin_make
+        source ~/your_workspace/devel/setup.bash
+   The source command may need to be run in each terminal prior to launching a ROS node.
+#### Launch the node and publish data
+The following command will launch the driver. Keep in mind each instance needs to be run in a separate terminal.
+
+        roslaunch ros_mscl microstrain.launch
+Optional launch parameters:
+- name: namespace the node will publish messages to, default: gx5
+- port: serial port name to connect to the device over, default: /dev/ttyACM0
+- baudrate: baud rate to open the connection with, default: 115200
+- imu_rate: sample rate for IMU data (hz), default: 100
+- debug: output debug info? default: false
+- diagnostics: output diagnostic info? default: true
+
+**Example**: Connect to and publish data from two devices simultaneously:
+In two different terminals:
+
+    roslaunch ros_mscl microstrain.launch name:=sensor1234
+
+    roslaunch ros_mscl microstrain.launch name:=bestSensor port:=/dev/ttyACM1
+This will launch two nodes that publish data to different namespaces:
+- sensor1234, connected over port: /dev/ttyACM0
+- bestSensor, connected over port: /dev/ttyACM1
+
+To check published topics:
+
+    rostopic list
 
 
 ## License
 ROS-MSCL is released under the MIT License - see the `LICENSE` file in the source distribution.
 
 Copyright (c)  2020, Parker Hannifin Corp.
+

launch/microstrain.launch → ros_mscl/launch/microstrain.launch

@@ -3,6 +3,7 @@
   <!-- Standalone example launch file for 3DM-GX5-25 -->
 
   <!-- Declare arguments with default values -->
+  <arg name="name" default="gx5" />
   <arg name="port" default="/dev/ttyACM0" />
   <arg name="baudrate" default="115200" />
   <arg name="imu_rate" default="100" />
@@ -19,7 +20,7 @@
   <!-- Microstrain sensor node -->
   <node name="ros_mscl_node"
   pkg="ros_mscl"
-  type="ros_mscl_node" output="screen" ns="gx5">
+  type="ros_mscl_node" output="screen" ns="$(arg name)">
     <param name="port" value="$(arg port)" type="str" />
     <param name="baudrate" value="$(arg baudrate)" type="int" />