diff --git a/.gitignore b/.gitignore index 0810cc53..17107d8c 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ +*~ *.*~ *.*# diff --git a/CMakeLists.txt b/CMakeLists.txt index 58d4f11c..613cc56f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -6,89 +6,15 @@ project(microstrain_3dm_gx5_45) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS roscpp - #serial + tf2 + tf2_ros + std_msgs + std_srvs + geometry_msgs + sensor_msgs + nav_msgs ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - ################################### ## catkin specific configuration ## ################################### @@ -99,18 +25,25 @@ find_package(catkin REQUIRED COMPONENTS ## CATKIN_DEPENDS: catkin_packages dependent projects also need ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( - INCLUDE_DIRS include - CATKIN_DEPENDS roscpp + INCLUDE_DIRS + include + CATKIN_DEPENDS + roscpp + cmake_modules + tf2 + tf2_ros + std_msgs + std_srvs + geometry_msgs + sensor_msgs + nav_msgs ) ########### ## Build ## ########### -## Specify additional locations of header files -## Your package locations should be listed before other locations - -# Directories containing MIP header files +# Directories containing MIP SDK header files set(MIPLIBINC MIPSDK/C/Library/Include) set(MIPLIBSRC MIPSDK/C/Library/Source) set(MIPUTILINC MIPSDK/C/Utilities/Include) @@ -122,8 +55,6 @@ set(MIPUTILSRC MIPSDK/C/Utilities/Source) # set(MIPUSR "MIPSDK/C/Library/User\ Functions") #include_directories(include ${MIPLIBINC} ${MIPUTILINC} ${MIPUSR}) include_directories(include/${PROJECT_NAME} ${MIPLIBINC} ${MIPUTILINC} ${catkin_INCLUDE_DIRS}) -# Include the ROS serial headers -#include_directories(${serial_INCLUDE_DIRS}) set(MIPINC ${MIPLIBINC}/mip.h @@ -153,26 +84,16 @@ set(MIPSRC ${MIPUTILSRC}/byteswap_utilities.c ) -## Declare a C++ library -# add_library(microstrain_3dm_gx5_45 -# src/${PROJECT_NAME}/microstrain_3dm_gx5_45.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(microstrain_3dm_gx5_45 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -# add_executable(microstrain_3dm_gx5_45_node src/microstrain_3dm_gx5_45_node.cpp) -add_executable(GX4-45_Test - src/GX4-45_Test.c +# Libraries +add_library(microstrain_3dm_gx5_45 + src/microstrain_3dm_gx5_45.cpp src/mip_sdk_user_functions.c ${MIPSRC} ) -add_library(microstrain_3dm_gx5_45 - src/microstrain_3dm_gx5_45.cpp +# Executables +add_executable(GX4-45_Test + src/GX4-45_Test.c src/mip_sdk_user_functions.c ${MIPSRC} ) @@ -180,28 +101,17 @@ add_executable(microstrain_3dm_gx5_45_node src/microstrain_3dm_gx5_45_node.cpp ) +# Linking +target_link_libraries(GX4-45_Test rt) target_link_libraries(microstrain_3dm_gx5_45 ${catkin_LIBRARIES} ) - target_link_libraries(microstrain_3dm_gx5_45_node microstrain_3dm_gx5_45 ${catkin_LIBRARIES} ) -#target_link_libraries(GX4-45_Test_node ${serial_LIBRARIES} rt pthread) - -#${MIPINC} -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(microstrain_3dm_gx5_45_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(microstrain_3dm_gx5_45_node -# ${catkin_LIBRARIES} -# ) - ############# ## Install ## ############# diff --git a/LICENSE b/LICENSE new file mode 100644 index 00000000..58956999 --- /dev/null +++ b/LICENSE @@ -0,0 +1,685 @@ +All code within the microstrain_3dm_gx5_45 package that was developed by Brian Bingham is released under the GPL license: + +Copyright (c) 2016, Brian Bingham +All rights reserved. + +================================================================================ + +The microstrain_3dm_gx5_45 package makes use of the MIP SDK written by Lord Microstrain Sensing Systems. 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Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/README.md b/README.md index 23780249..b0022810 100644 --- a/README.md +++ b/README.md @@ -4,4 +4,5 @@ Interface software, including ROS node, for Microstrain 3DM-GX5-45. + See http://wiki.ros.org/microstrain_3dm_gx5_45 diff --git a/config/custom_rosconsole.conf b/config/custom_rosconsole.conf index 47a09375..bf0e6678 100644 --- a/config/custom_rosconsole.conf +++ b/config/custom_rosconsole.conf @@ -3,5 +3,5 @@ # ROSCONSOLE_CONFIG_FILE (in your environment) to point to the new file # log4j.logger.ros=INFO -log4j.logger.ros.geonav_transform=DEBUG +log4j.logger.ros.microstrain_3dm_gx5_45=DEBUG log4j.logger.ros.roscpp.superdebug=WARN \ No newline at end of file diff --git a/include/microstrain_3dm_gx5_45/microstrain_3dm_gx5_45.h b/include/microstrain_3dm_gx5_45/microstrain_3dm_gx5_45.h index 4f9057ae..865ac980 100644 --- a/include/microstrain_3dm_gx5_45/microstrain_3dm_gx5_45.h +++ b/include/microstrain_3dm_gx5_45/microstrain_3dm_gx5_45.h @@ -1,6 +1,27 @@ /** ROS node - * - */ + +/* + +Copyright (c) 2017, Brian Bingham +All rights reserved + +This file is part of the microstrain_3dm_gx5_45 package. + +microstrain_3dm_gx5_45 is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +microstrain_3dm_gx5_45 is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with Foobar. If not, see . + +*/ + #ifndef _MICROSTRAIN_3DM_GX5_45_H #define _MICROSTRAIN_3DM_GX5_45_H @@ -77,8 +98,6 @@ namespace Microstrain void print_packet_stats(); // Variables/fields - u8 enable_data_stats_output_; - //The primary device interface structure mip_interface device_interface_; @@ -128,8 +147,12 @@ namespace Microstrain std_msgs::Int16MultiArray nav_status_msg_; std::string gps_frame_id_; std::string imu_frame_id_; - std::string nav_frame_id_; - + std::string odom_frame_id_; + std::string odom_child_frame_id_; + bool publish_gps_; + bool publish_imu_; + bool publish_odom_; + // Update rates int nav_rate_; int imu_rate_; diff --git a/launch/microstrain.launch b/launch/microstrain.launch index a854c8fe..2243bea4 100644 --- a/launch/microstrain.launch +++ b/launch/microstrain.launch @@ -13,15 +13,28 @@ - - - + + + + + + + + + + + + + + + + diff --git a/package.xml b/package.xml index b02840da..6230ec4f 100644 --- a/package.xml +++ b/package.xml @@ -1,51 +1,25 @@ - + microstrain_3dm_gx5_45 - 0.0.0 - The microstrain_3dm_gx5_45 package + 0.0.1 + The microstrain_3dm_gx5_45 package provides a driver for the LORD/Microstrain 3DM_GXx_45 GPS-aided IMU sensor. + Brian Bingham --> + Brian Bingham + GPL + http://wiki.ros.org/microstrain_3dm_gx5_45 - - - - bsb - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - serial - roscpp + roscpp + cmake_modules + tf2 + tf2_ros + std_msgs + std_srvs + geometry_msgs + sensor_msgs + nav_msgs - diff --git a/src/microstrain_3dm_gx5_45.cpp b/src/microstrain_3dm_gx5_45.cpp index 2aeb4886..b9d8fad5 100644 --- a/src/microstrain_3dm_gx5_45.cpp +++ b/src/microstrain_3dm_gx5_45.cpp @@ -1,11 +1,33 @@ +/* + +Copyright (c) 2017, Brian Bingham +All rights reserved + +This file is part of the microstrain_3dm_gx5_45 package. + +microstrain_3dm_gx5_45 is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +microstrain_3dm_gx5_45 is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with Foobar. If not, see . + +*/ + #include "microstrain_3dm_gx5_45.h" +#include #include namespace Microstrain { Microstrain::Microstrain(): // Initialization list - enable_data_stats_output_(0), filter_valid_packet_count_(0), ahrs_valid_packet_count_(0), gps_valid_packet_count_(0), @@ -17,7 +39,11 @@ namespace Microstrain gps_checksum_error_packet_count_(0), gps_frame_id_("gps_frame"), imu_frame_id_("imu_frame"), - nav_frame_id_("nav_frame") + odom_frame_id_("odom_frame"), + odom_child_frame_id_("odom_frame"), + publish_gps_(true), + publish_imu_(true), + publish_odom_(true) { // pass } @@ -27,8 +53,23 @@ namespace Microstrain } void Microstrain::run() { - // Variables + // Variables for device configuration, ROS parameters, etc. u32 com_port, baudrate; + bool device_setup = false; + bool readback_settings = true; + bool save_settings = true; + bool auto_init = true; + u8 auto_init_u8 = 1; + u8 readback_auto_init = 0; + u8 dynamics_mode = 0; + u8 readback_dynamics_mode = 0; + int declination_source; + u8 declination_source_u8; + u8 readback_declination_source; + double declination; + + // Variables + tf2::Quaternion quat; base_device_info_field device_info; u8 temp_string[20] = {0}; u32 bit_result; @@ -54,12 +95,9 @@ namespace Microstrain float hard_iron_readback[3] = {0}; float soft_iron[9] = {0}; float soft_iron_readback[9] = {0}; - u8 dynamics_mode = 0; - u8 readback_dynamics_mode = 0; u16 estimation_control = 0, estimation_control_readback = 0; u8 gps_source = 0; u8 heading_source = 0; - u8 auto_init = 0; float noise[3] = {0}; float readback_noise[3] = {0}; float beta[3] = {0}; @@ -76,9 +114,6 @@ namespace Microstrain mip_filter_zero_update_command zero_update_control, zero_update_readback; mip_filter_external_heading_with_time_command external_heading_with_time; mip_complementary_filter_settings comp_filter_command, comp_filter_readback; - int declination_source; - double declination; - u8 declination_source_command, declination_source_readback; mip_filter_accel_magnitude_error_adaptive_measurement_command accel_magnitude_error_command, accel_magnitude_error_readback; mip_filter_magnetometer_magnitude_error_adaptive_measurement_command mag_magnitude_error_command, mag_magnitude_error_readback; @@ -90,14 +125,18 @@ namespace Microstrain ros::NodeHandle private_nh("~"); // ROS Parameters + // Comms Parameters std::string port; int baud, pdyn_mode; private_nh.param("port", port, std::string("/dev/ttyACM0")); private_nh.param("baudrate",baud,115200); baudrate = (u32)baud; - private_nh.param("gps_frame_id",gps_frame_id_, std::string("world")); - private_nh.param("imu_frame_id",gps_frame_id_, std::string("sensor")); - private_nh.param("nav_frame_id",gps_frame_id_, std::string("world")); + // Configuration Parameters + private_nh.param("device_setup",device_setup,false); + private_nh.param("readback_settings",readback_settings,true); + private_nh.param("save_settings",save_settings,true); + + private_nh.param("auto_init",auto_init,true); private_nh.param("gps_rate",gps_rate_, 1); private_nh.param("imu_rate",imu_rate_, 10); private_nh.param("nav_rate",nav_rate_, 10); @@ -111,63 +150,41 @@ namespace Microstrain if (declination_source < 1 || declination_source > 3){ ROS_WARN("declination_source can't be %d, must be 1, 2 or 3. Setting to 2.",declination_source); declination_source = 2; - } - declination_source_command=(u8)declination_source; + } + declination_source_u8 = (u8)declination_source; + //declination_source_command=(u8)declination_source; private_nh.param("declination",declination,0.23); - - // Publishers and subscribers - gps_pub_ = node.advertise("gps/fix",100); - imu_pub_ = node.advertise("imu/data",100); - nav_pub_ = node.advertise("nav/odom",100); - nav_status_pub_ = node.advertise("nav/status",100); + private_nh.param("gps_frame_id",gps_frame_id_, std::string("wgs84")); + private_nh.param("imu_frame_id",imu_frame_id_, std::string("base_link")); + private_nh.param("odom_frame_id",odom_frame_id_, std::string("wgs84")); + private_nh.param("odom_child_frame_id",odom_child_frame_id_, + std::string("base_link")); + private_nh.param("publish_gps",publish_gps_, true); + private_nh.param("publish_imu",publish_imu_, true); + private_nh.param("publish_odom",publish_odom_, true); + + // ROS publishers and subscribers + if (publish_gps_) + gps_pub_ = node.advertise("gps/fix",100); + if (publish_imu_) + imu_pub_ = node.advertise("imu/data",100); + if (publish_odom_) + { + nav_pub_ = node.advertise("nav/odom",100); + nav_status_pub_ = node.advertise("nav/status",100); + } ros::ServiceServer service = node.advertiseService("reset_kf", &Microstrain::reset_callback, this); - //Initialize the interface to the device + + //Initialize the serial interface to the device ROS_INFO("Attempting to open serial port <%s> at <%d> \n", port.c_str(),baudrate); if(mip_interface_init(port.c_str(), baudrate, &device_interface_, DEFAULT_PACKET_TIMEOUT_MS) != MIP_INTERFACE_OK){ - ROS_ERROR("Couldn't open port!"); + ROS_FATAL("Couldn't open serial port! Is it plugged in?"); } - float dT=1.0; // common sleep time after communications - /* Setup and test Comms */ - // Put device into standard mode - ROS_INFO("Put device into standard comms mode"); - device_descriptors_size = 128*2; - com_mode = MIP_SDK_GX4_45_IMU_STANDARD_MODE; - while(mip_system_com_mode(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &com_mode) != MIP_INTERFACE_OK){} - //Verify device mode setting - while(mip_system_com_mode(&device_interface_, MIP_FUNCTION_SELECTOR_READ, &com_mode) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); - if(com_mode != MIP_SDK_GX4_45_IMU_STANDARD_MODE) - { - ROS_ERROR("Appears we didn't get into standard mode!"); - } - - // Put into idle mode - ROS_INFO("Idling Device"); - while(mip_base_cmd_idle(&device_interface_) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); - - // Get supported descriptors - /* - while(mip_base_cmd_get_device_supported_descriptors(&device_interface_, (u8*)device_descriptors, &device_descriptors_size) != MIP_INTERFACE_OK){} - - std::printf("\n\nSupported descriptors:\n\n"); - - for(i=0; i< device_descriptors_size/2; i++) - { - std::printf("Descriptor Set: %02x, Descriptor: %02x\n", device_descriptors[i] >> 8, device_descriptors[i]&0xFF); - Sleep(100); - } - - std::printf("\n\n"); - Sleep(1500); - */ - - - // Setup callbacks + // Setup device callbacks if(mip_interface_add_descriptor_set_callback(&device_interface_, MIP_FILTER_DATA_SET, this, &filter_packet_callback_wrapper) != MIP_INTERFACE_OK) { ROS_FATAL("Can't setup filter callback!"); @@ -178,148 +195,264 @@ namespace Microstrain ROS_FATAL("Can't setup callbacks!"); return; } - if(mip_interface_add_descriptor_set_callback(&device_interface_, MIP_GPS_DATA_SET, this, &gps_packet_callback_wrapper) != MIP_INTERFACE_OK) { ROS_FATAL("Can't setup callbacks!"); return; } - // Get rates - while(mip_3dm_cmd_get_ahrs_base_rate(&device_interface_, &base_rate) != MIP_INTERFACE_OK){} - ROS_INFO("AHRS Base Rate => %d Hz", base_rate); - ros::Duration(dT).sleep(); - // Deterimine decimation to get close to goal rate - u8 imu_decimation = (u8)((float)base_rate/ (float)imu_rate_); - - while(mip_3dm_cmd_get_gps_base_rate(&device_interface_, &base_rate) != MIP_INTERFACE_OK){} - ROS_INFO("GPS Base Rate => %d Hz", base_rate); - u8 gps_decimation = (u8)((float)base_rate/ (float)gps_rate_); - ros::Duration(dT).sleep(); - - while(mip_3dm_cmd_get_filter_base_rate(&device_interface_, &base_rate) != MIP_INTERFACE_OK){} - ROS_INFO("FILTER Base Rate => %d Hz", base_rate); - u8 nav_decimation = (u8)((float)base_rate/ (float)nav_rate_); - ros::Duration(dT).sleep(); - - // Set message formats - enable_data_stats_output_ = 1; - ROS_INFO("Setting the AHRS message format"); - data_stream_format_descriptors[0] = MIP_AHRS_DATA_ACCEL_SCALED; - data_stream_format_descriptors[1] = MIP_AHRS_DATA_GYRO_SCALED; - data_stream_format_descriptors[2] = MIP_AHRS_DATA_QUATERNION; - data_stream_format_decimation[0] = imu_decimation;//0x32; - data_stream_format_decimation[1] = imu_decimation;//0x32; - data_stream_format_decimation[2] = imu_decimation;//0x32; - data_stream_format_num_entries = 3; - while(mip_3dm_cmd_ahrs_message_format(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &data_stream_format_num_entries, data_stream_format_descriptors, data_stream_format_decimation) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); - ROS_INFO("Poll AHRS data to verify"); - while(mip_3dm_cmd_poll_ahrs(&device_interface_, MIP_3DM_POLLING_ENABLE_ACK_NACK, data_stream_format_num_entries, data_stream_format_descriptors) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); - ROS_INFO(" "); - - - ROS_INFO("Setting GPS stream format"); - data_stream_format_descriptors[0] = MIP_GPS_DATA_LLH_POS; - data_stream_format_descriptors[1] = MIP_GPS_DATA_NED_VELOCITY; - data_stream_format_descriptors[2] = MIP_GPS_DATA_GPS_TIME; - data_stream_format_decimation[0] = gps_decimation; //0x01; //0x04; - data_stream_format_decimation[1] = gps_decimation; //0x01; //0x04; - data_stream_format_decimation[2] = gps_decimation; //0x01; //0x04; - data_stream_format_num_entries = 3; - while(mip_3dm_cmd_gps_message_format(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &data_stream_format_num_entries,data_stream_format_descriptors, data_stream_format_decimation) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); - - ROS_INFO("Setting Filter stream format"); - data_stream_format_descriptors[0] = MIP_FILTER_DATA_LLH_POS; - data_stream_format_descriptors[1] = MIP_FILTER_DATA_NED_VEL; - //data_stream_format_descriptors[2] = MIP_FILTER_DATA_ATT_EULER_ANGLES; - data_stream_format_descriptors[2] = MIP_FILTER_DATA_ATT_QUATERNION; - data_stream_format_descriptors[3] = MIP_FILTER_DATA_POS_UNCERTAINTY; - data_stream_format_descriptors[4] = MIP_FILTER_DATA_VEL_UNCERTAINTY; - data_stream_format_descriptors[5] = MIP_FILTER_DATA_ATT_UNCERTAINTY_EULER; - data_stream_format_descriptors[6] = MIP_FILTER_DATA_COMPENSATED_ANGULAR_RATE; - data_stream_format_descriptors[7] = MIP_FILTER_DATA_FILTER_STATUS; - data_stream_format_decimation[0] = nav_decimation; //0x32; - data_stream_format_decimation[1] = nav_decimation; //0x32; - data_stream_format_decimation[2] = nav_decimation; //0x32; - data_stream_format_decimation[3] = nav_decimation; //0x32; - data_stream_format_decimation[4] = nav_decimation; //0x32; - data_stream_format_decimation[5] = nav_decimation; //0x32; - data_stream_format_decimation[6] = nav_decimation; //0x32; - data_stream_format_decimation[7] = nav_decimation; //0x32; - data_stream_format_num_entries = 8; - while(mip_3dm_cmd_filter_message_format(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &data_stream_format_num_entries,data_stream_format_descriptors, data_stream_format_decimation) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); - ROS_INFO("Poll filter data to test stream"); - while(mip_3dm_cmd_poll_filter(&device_interface_, MIP_3DM_POLLING_ENABLE_ACK_NACK, data_stream_format_num_entries, data_stream_format_descriptors) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); - ROS_INFO(" "); - - // Set dynamics mode - ROS_INFO("Setting dynamics mode to %d",dynamics_mode); - while(mip_filter_vehicle_dynamics_mode(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &dynamics_mode) != MIP_INTERFACE_OK){} - // Default mode - /* - ROS_INFO("Setting default dynamics mode"); - while(mip_filter_vehicle_dynamics_mode(&device_interface_, MIP_FUNCTION_SELECTOR_LOAD_DEFAULT, NULL) != MIP_INTERFACE_OK){} + //////////////////////////////////////// + // Device setup + float dT=1.0; // common sleep time after setup communications + if (device_setup) + { + // Put device into standard mode - we never really use "direct mode" + ROS_INFO("Putting device communications into 'standard mode'"); + device_descriptors_size = 128*2; + com_mode = MIP_SDK_GX4_45_IMU_STANDARD_MODE; + while(mip_system_com_mode(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &com_mode) != MIP_INTERFACE_OK){} + //Verify device mode setting + while(mip_system_com_mode(&device_interface_, MIP_FUNCTION_SELECTOR_READ, &com_mode) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + if(com_mode != MIP_SDK_GX4_45_IMU_STANDARD_MODE) + { + ROS_ERROR("Appears we didn't get into standard mode!"); + } + + // Put into idle mode + ROS_INFO("Idling Device: Stopping data streams and/or waking from sleep"); + while(mip_base_cmd_idle(&device_interface_) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + + // Get base rates + while(mip_3dm_cmd_get_ahrs_base_rate(&device_interface_, &base_rate) != MIP_INTERFACE_OK){} + ROS_INFO("AHRS Base Rate => %d Hz", base_rate); + ros::Duration(dT).sleep(); + // Deterimine decimation to get close to goal rate + u8 imu_decimation = (u8)((float)base_rate/ (float)imu_rate_); + + while(mip_3dm_cmd_get_gps_base_rate(&device_interface_, &base_rate) != MIP_INTERFACE_OK){} + ROS_INFO("GPS Base Rate => %d Hz", base_rate); + u8 gps_decimation = (u8)((float)base_rate/ (float)gps_rate_); + ros::Duration(dT).sleep(); + + while(mip_3dm_cmd_get_filter_base_rate(&device_interface_, &base_rate) != MIP_INTERFACE_OK){} + ROS_INFO("FILTER Base Rate => %d Hz", base_rate); + u8 nav_decimation = (u8)((float)base_rate/ (float)nav_rate_); + ros::Duration(dT).sleep(); + + ////////// AHRS Message Format + // Set message format + ROS_INFO("Setting the AHRS message format"); + data_stream_format_descriptors[0] = MIP_AHRS_DATA_ACCEL_SCALED; + data_stream_format_descriptors[1] = MIP_AHRS_DATA_GYRO_SCALED; + data_stream_format_descriptors[2] = MIP_AHRS_DATA_QUATERNION; + data_stream_format_decimation[0] = imu_decimation;//0x32; + data_stream_format_decimation[1] = imu_decimation;//0x32; + data_stream_format_decimation[2] = imu_decimation;//0x32; + data_stream_format_num_entries = 3; + while(mip_3dm_cmd_ahrs_message_format(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &data_stream_format_num_entries, data_stream_format_descriptors, data_stream_format_decimation) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + // Poll to verify + ROS_INFO("Poll AHRS data to verify"); + while(mip_3dm_cmd_poll_ahrs(&device_interface_, MIP_3DM_POLLING_ENABLE_ACK_NACK, data_stream_format_num_entries, data_stream_format_descriptors) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + // Save + if (save_settings) + { + ROS_INFO("Saving AHRS data settings"); + while(mip_3dm_cmd_ahrs_message_format(&device_interface_, MIP_FUNCTION_SELECTOR_STORE_EEPROM, 0, NULL,NULL) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + } + + ////////// GPS Message Format + // Set + ROS_INFO("Setting GPS stream format"); + data_stream_format_descriptors[0] = MIP_GPS_DATA_LLH_POS; + data_stream_format_descriptors[1] = MIP_GPS_DATA_NED_VELOCITY; + data_stream_format_descriptors[2] = MIP_GPS_DATA_GPS_TIME; + data_stream_format_decimation[0] = gps_decimation; //0x01; //0x04; + data_stream_format_decimation[1] = gps_decimation; //0x01; //0x04; + data_stream_format_decimation[2] = gps_decimation; //0x01; //0x04; + data_stream_format_num_entries = 3; + while(mip_3dm_cmd_gps_message_format(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &data_stream_format_num_entries,data_stream_format_descriptors, data_stream_format_decimation) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + // Save + if (save_settings) + { + ROS_INFO("Saving GPS data settings"); + while(mip_3dm_cmd_gps_message_format(&device_interface_, MIP_FUNCTION_SELECTOR_STORE_EEPROM, 0, NULL,NULL) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + } + + ////////// Filter Message Format + // Set + ROS_INFO("Setting Filter stream format"); + data_stream_format_descriptors[0] = MIP_FILTER_DATA_LLH_POS; + data_stream_format_descriptors[1] = MIP_FILTER_DATA_NED_VEL; + //data_stream_format_descriptors[2] = MIP_FILTER_DATA_ATT_EULER_ANGLES; + data_stream_format_descriptors[2] = MIP_FILTER_DATA_ATT_QUATERNION; + data_stream_format_descriptors[3] = MIP_FILTER_DATA_POS_UNCERTAINTY; + data_stream_format_descriptors[4] = MIP_FILTER_DATA_VEL_UNCERTAINTY; + data_stream_format_descriptors[5] = MIP_FILTER_DATA_ATT_UNCERTAINTY_EULER; + data_stream_format_descriptors[6] = MIP_FILTER_DATA_COMPENSATED_ANGULAR_RATE; + data_stream_format_descriptors[7] = MIP_FILTER_DATA_FILTER_STATUS; + data_stream_format_decimation[0] = nav_decimation; //0x32; + data_stream_format_decimation[1] = nav_decimation; //0x32; + data_stream_format_decimation[2] = nav_decimation; //0x32; + data_stream_format_decimation[3] = nav_decimation; //0x32; + data_stream_format_decimation[4] = nav_decimation; //0x32; + data_stream_format_decimation[5] = nav_decimation; //0x32; + data_stream_format_decimation[6] = nav_decimation; //0x32; + data_stream_format_decimation[7] = nav_decimation; //0x32; + data_stream_format_num_entries = 8; + while(mip_3dm_cmd_filter_message_format(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &data_stream_format_num_entries,data_stream_format_descriptors, data_stream_format_decimation) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + // Poll to verify + ROS_INFO("Poll filter data to test stream"); + while(mip_3dm_cmd_poll_filter(&device_interface_, MIP_3DM_POLLING_ENABLE_ACK_NACK, data_stream_format_num_entries, data_stream_format_descriptors) != MIP_INTERFACE_OK){} ros::Duration(dT).sleep(); - */ + // Save + if (save_settings) + { + ROS_INFO("Saving Filter data settings"); + while(mip_3dm_cmd_filter_message_format(&device_interface_, MIP_FUNCTION_SELECTOR_STORE_EEPROM, 0, NULL,NULL) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + } - // Default auto-init - ROS_INFO("Setting default auto-init"); - while(mip_filter_auto_initialization(&device_interface_, MIP_FUNCTION_SELECTOR_LOAD_DEFAULT, NULL) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); + ////////// Dynamics Mode + // Set dynamics mode + ROS_INFO("Setting dynamics mode to %d",dynamics_mode); + while(mip_filter_vehicle_dynamics_mode(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &dynamics_mode) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + // Readback dynamics mode + if (readback_settings) + { + // Read the settings back + ROS_INFO("Reading back dynamics mode setting"); + while(mip_filter_vehicle_dynamics_mode(&device_interface_, + MIP_FUNCTION_SELECTOR_READ, + &readback_dynamics_mode) + != MIP_INTERFACE_OK) + {} + ros::Duration(dT).sleep(); + if (dynamics_mode == readback_dynamics_mode) + ROS_INFO("Success: Dynamics mode setting is: %d",readback_dynamics_mode); + else + ROS_ERROR("Failure: Dynamics mode set to be %d, but reads as %d", + dynamics_mode,readback_dynamics_mode); + } + if (save_settings) + { + ROS_INFO("Saving dynamics mode settings to EEPROM"); + while(mip_filter_vehicle_dynamics_mode(&device_interface_, + MIP_FUNCTION_SELECTOR_STORE_EEPROM, + NULL) != MIP_INTERFACE_OK) + {} + ros::Duration(dT).sleep(); + } - // Set delination - while(mip_filter_declination_source(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &declination_source_command) != MIP_INTERFACE_OK){} + ////////// Auto Initialization + // Set auto-initialization based on ROS parameter + ROS_INFO("Setting auto-initinitalization to: %d",auto_init); + auto_init_u8 = auto_init; // convert bool to u8 + while(mip_filter_auto_initialization(&device_interface_, + MIP_FUNCTION_SELECTOR_WRITE, + &auto_init_u8) != MIP_INTERFACE_OK) + {} + ros::Duration(dT).sleep(); - //Read back the declination source - while(mip_filter_declination_source(&device_interface_, MIP_FUNCTION_SELECTOR_READ, &declination_source_readback) != MIP_INTERFACE_OK){} - if(declination_source_command == declination_source_readback) + if (readback_settings) { - ROS_INFO("Declination source successfully set to %d", declination_source_command); + // Read the settings back + ROS_INFO("Reading back auto-initialization value"); + while(mip_filter_auto_initialization(&device_interface_, + MIP_FUNCTION_SELECTOR_READ, + &readback_auto_init)!= MIP_INTERFACE_OK) + {} + ros::Duration(dT).sleep(); + if (auto_init == readback_auto_init) + ROS_INFO("Success: Auto init. setting is: %d",readback_auto_init); + else + ROS_ERROR("Failure: Auto init. setting set to be %d, but reads as %d", + auto_init,readback_auto_init); } - else + if (save_settings) { - ROS_WARN("Failed to set the declination source to %d!", i); + ROS_INFO("Saving auto init. settings to EEPROM"); + while(mip_filter_auto_initialization(&device_interface_, + MIP_FUNCTION_SELECTOR_STORE_EEPROM, + NULL) != MIP_INTERFACE_OK) + {} + ros::Duration(dT).sleep(); } - - // Reset filter - ROS_INFO("Reset filter"); - while(mip_filter_reset_filter(&device_interface_) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); - // Turn off reporting packets to the screen - enable_data_stats_output_ = 0; + ////////// Declination Source + // Set declination + ROS_INFO("Setting declination source to %d",declination_source_u8); + while(mip_filter_declination_source(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, &declination_source_u8) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + //Read back the declination source + ROS_INFO("Reading back declination source"); + while(mip_filter_declination_source(&device_interface_, MIP_FUNCTION_SELECTOR_READ, &readback_declination_source) != MIP_INTERFACE_OK){} + if(declination_source_u8 == readback_declination_source) + { + ROS_INFO("Success: Declination source set to %d", declination_source_u8); + } + else + { + ROS_WARN("Failed to set the declination source to %d!", declination_source_u8); + } + ros::Duration(dT).sleep(); + if (save_settings) + { + ROS_INFO("Saving declination source settings to EEPROM"); + while(mip_filter_declination_source(&device_interface_, + MIP_FUNCTION_SELECTOR_STORE_EEPROM, + NULL) != MIP_INTERFACE_OK) + {} + ros::Duration(dT).sleep(); + } - // Enable Data streams - dT = 0.25; - ROS_INFO("Enabling AHRS stream"); - enable = 0x01; - while(mip_3dm_cmd_continuous_data_stream(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, MIP_3DM_AHRS_DATASTREAM, &enable) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); - ROS_INFO("Enabling Filter stream"); - enable = 0x01; - while(mip_3dm_cmd_continuous_data_stream(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, MIP_3DM_INS_DATASTREAM, &enable) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); + // Reset filter + ROS_INFO("Reset filter"); + while(mip_filter_reset_filter(&device_interface_) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + - ROS_INFO("Enabling GPS stream"); - enable = 0x01; - while(mip_3dm_cmd_continuous_data_stream(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, MIP_3DM_GPS_DATASTREAM, &enable) != MIP_INTERFACE_OK){} - ros::Duration(dT).sleep(); + // Enable Data streams + dT = 0.25; + ROS_INFO("Enabling AHRS stream"); + enable = 0x01; + while(mip_3dm_cmd_continuous_data_stream(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, MIP_3DM_AHRS_DATASTREAM, &enable) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + + ROS_INFO("Enabling Filter stream"); + enable = 0x01; + while(mip_3dm_cmd_continuous_data_stream(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, MIP_3DM_INS_DATASTREAM, &enable) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + + ROS_INFO("Enabling GPS stream"); + enable = 0x01; + while(mip_3dm_cmd_continuous_data_stream(&device_interface_, MIP_FUNCTION_SELECTOR_WRITE, MIP_3DM_GPS_DATASTREAM, &enable) != MIP_INTERFACE_OK){} + ros::Duration(dT).sleep(); + ROS_INFO("End of device setup - starting streaming"); + } + else + { + ROS_INFO("Skipping device setup and listing for existing streams"); + } // end of device_setup + // Loop - ros::Rate r(1000); // Rate in Hz while (ros::ok()){ //Update the parser (this function reads the port and parses the bytes mip_interface_update(&device_interface_); ros::spinOnce(); // take care of service requests. r.sleep(); - + //ROS_INFO("Spinning"); } // end loop } // End of ::run() @@ -339,6 +472,9 @@ namespace Microstrain u8 *field_data; u16 field_offset = 0; + // If we aren't publishing, then return + if (!publish_odom_) + return; //ROS_INFO("Filter callback"); //The packet callback can have several types, process them all switch(callback_type) @@ -377,7 +513,8 @@ namespace Microstrain nav_msg_.header.seq = filter_valid_packet_count_; nav_msg_.header.stamp = ros::Time::now(); - nav_msg_.header.frame_id = nav_frame_id_; + nav_msg_.header.frame_id = odom_frame_id_; + nav_msg_.child_frame_id = odom_child_frame_id_; nav_msg_.pose.pose.position.y = curr_filter_pos_.latitude; nav_msg_.pose.pose.position.x = curr_filter_pos_.longitude; nav_msg_.pose.pose.position.z = curr_filter_pos_.ellipsoid_height; @@ -395,9 +532,20 @@ namespace Microstrain //For little-endian targets, byteswap the data field mip_filter_ned_velocity_byteswap(&curr_filter_vel_); - nav_msg_.twist.twist.linear.x = curr_filter_vel_.east; - nav_msg_.twist.twist.linear.y = curr_filter_vel_.north; - nav_msg_.twist.twist.linear.z = -1*curr_filter_vel_.down; + // rotate velocities from NED to sensor coordinates + tf2::Quaternion nav_quat(curr_filter_quaternion_.q[0], + curr_filter_quaternion_.q[1], + curr_filter_quaternion_.q[2], + curr_filter_quaternion_.q[3]); + + tf2::Vector3 vel_enu(curr_filter_vel_.east, + curr_filter_vel_.north, + -1.0*curr_filter_vel_.down); + tf2::Vector3 vel_in_sensor_frame = tf2::quatRotate(nav_quat,vel_enu); + + nav_msg_.twist.twist.linear.x = vel_in_sensor_frame[0]; //curr_filter_vel_.east; + nav_msg_.twist.twist.linear.y = vel_in_sensor_frame[0]; //curr_filter_vel_.north; + nav_msg_.twist.twist.linear.z = vel_in_sensor_frame[0]; //-1*curr_filter_vel_.down; }break; /// @@ -545,7 +693,9 @@ namespace Microstrain mip_field_header *field_header; u8 *field_data; u16 field_offset = 0; - + // If we aren't publishing, then return + if (!publish_imu_) + return; //The packet callback can have several types, process them all switch(callback_type) { @@ -683,6 +833,9 @@ namespace Microstrain u16 field_offset = 0; u8 msgvalid = 1; // keep track of message validity + // If we aren't publishing, then return + if (!publish_gps_) + return; //The packet callback can have several types, process them all switch(callback_type) { @@ -799,12 +952,9 @@ namespace Microstrain void Microstrain::print_packet_stats() { - if(enable_data_stats_output_) - { - printf("\r%u FILTER (%u errors) %u AHRS (%u errors) %u GPS (%u errors) Packets", filter_valid_packet_count_, filter_timeout_packet_count_ + filter_checksum_error_packet_count_, - ahrs_valid_packet_count_, ahrs_timeout_packet_count_ + ahrs_checksum_error_packet_count_, - gps_valid_packet_count_, gps_timeout_packet_count_ + gps_checksum_error_packet_count_); - } + ROS_DEBUG_THROTTLE(1.0,"%u FILTER (%u errors) %u AHRS (%u errors) %u GPS (%u errors) Packets", filter_valid_packet_count_, filter_timeout_packet_count_ + filter_checksum_error_packet_count_, + ahrs_valid_packet_count_, ahrs_timeout_packet_count_ + ahrs_checksum_error_packet_count_, + gps_valid_packet_count_, gps_timeout_packet_count_ + gps_checksum_error_packet_count_); } // print_packet_stats diff --git a/src/microstrain_3dm_gx5_45_node.cpp b/src/microstrain_3dm_gx5_45_node.cpp index 629ee135..5af82b2a 100644 --- a/src/microstrain_3dm_gx5_45_node.cpp +++ b/src/microstrain_3dm_gx5_45_node.cpp @@ -1,3 +1,25 @@ +/* + +Copyright (c) 2017, Brian Bingham +All rights reserved + +This file is part of the microstrain_3dm_gx5_45 package. + +microstrain_3dm_gx5_45 is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +microstrain_3dm_gx5_45 is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with Foobar. If not, see . + +*/ + /** * @file microstrain_3dm_gx5_45.cpp * @author Brian S. Bingham diff --git a/src/mip_sdk_user_functions.c b/src/mip_sdk_user_functions.c index 014706d8..e3047df2 100644 --- a/src/mip_sdk_user_functions.c +++ b/src/mip_sdk_user_functions.c @@ -74,7 +74,7 @@ u16 mip_sdk_port_open(void **port_handle, const char *portstr, int baudrate) // Copy portstr argument to port_name strcat(port_name,portstr); - printf("Attempting to open port: %s\n",port_name); + //printf("Attempting to open port: %s\n",port_name); //Attempt to open the specified port local_port_handle = open(port_name, O_RDWR | O_NOCTTY); @@ -85,7 +85,7 @@ u16 mip_sdk_port_open(void **port_handle, const char *portstr, int baudrate) return MIP_USER_FUNCTION_ERROR; } - printf("Port: %s opened successfully.\n",port_name); + //printf("Port: %s opened successfully.\n",port_name); //Convert specified baud to hardware specific value switch (baudrate) diff --git a/wiki_src.txt b/wiki_src.txt new file mode 100644 index 00000000..0bb71a6b --- /dev/null +++ b/wiki_src.txt @@ -0,0 +1,185 @@ + +== Overview == + +Interface (driver) software, including ROS node, for Microstrain 3DM-GX5-45. + +The interface makes use of the MIP SDK Version 1.1 from Microstrain to communicate with the device. Includes the following applications: + +=== Supported Devices === + +== ROS Nodes == +{{{ +#!clearsilver CS/NodeAPI +node.0 { + name = microstrain_3dm_gx5_45 + desc = ROS node that captures IMU/GPS data. + pub { + 0.name= gps/fix + 0.type= sensor_msgs/NavSatFix + 0.desc= See [[#gpsmsg|Navsatfix message description]] below. + 1.name= imu/data + 1.type= sensor_msgs/Imu + 1.desc= See [[#imumsg|Imu message description]] below + 2.name= nav/odom + 2.type= nav_msgs/Odometry + 2.desc= See [[#odommsg|Odometry message description]] below + 3.name= nav/status + 3.type= std_msgs/Int16MultiArray + 3.desc= See below [[#navstatusmsg|Nav Status message description]] + } + srv { + 0.name = reset_kf + 0.type = std_srvs/Empty + 0.desc = Resets the Kalman filter on the device + } + param { + 0.name = port + 0.type = string + 0.desc = Serial port - Linux only + 0.default = /dev/ttyACM0 + 1.name = baud_rate + 1.type = int + 1.desc = Baud rate of serial connection + 1.default = 115200 + 2.name= device_setup + 2.type= bool + 2.desc= If true, puts device in idle mode and configures the device.If false, skips configuration. Important: the configuration parameters below are not effective unless this flag is true. + 2.default= true + 3.name= readback_settings + 3.type= bool + 3.desc= coming soon + 3.default= true + 4.name= auto-init + 4.type= bool + 4.desc= tbd + 4.default= true + 5.name=dynamics_mode + 5.type=int + 5.desc=Vehicle dynamics mode 0x01=Portable, 0x02=Automotive, 0x03=Airborne + 5.default = 1 + 6.name=declination_source + 6.type=int + 6.desc=Possible declination sources: 0x01=Node, device reports magnetic north, 0x02=Internal World Magnetic Model, 0x03=Manual (see declination parameter) + 6.default=2 + 8.name=gps_frame_id + 8.type=string + 8.desc= Value for the frame_id field in the header of the NavSatFix message published on the gps/fix topic + 8.default=wgs84 + 9.name=imu_frame_id + 9.type=string + 9.desc=Value of the frame_id field in the header of the Imu message publised in the imu/data topic + 9.default=base_link + 10.name=odom_frame_id + 10.type=string + 10.desc=Value of the frame_id field in the header of the Odometry message published on the nav/odom topic + 10.default=wgs84 + 11.name=odom_child_frame_id + 11.type=string + 11.desc=Value of the child_frame_id field in the Odometry message published on the nav/odom topic. + 11.default=base_link + 12.name=publish_gps + 12.type=bool + 12.desc=Sets if ~gps/fix should be advertised/published or not. Note - to maximize performance you may want to only publish the Odometry messages + 12.default=true + 13.name=publish_imu + 13.type=bool + 13.desc= Sets if ~imu/data should be advertised/published or not. + 13.default=true + 14.name=publish_gps + 14.type=bool + 14.desc=Sets if ~nav/odom should be advertised/published or not. + 14.default=true + 15.name=gps_rate + 15.type=int + 15.desc=Target update (publishing) rate for gps/fix messages. See [[#rates|Update Rates]] below. + 15.default=1 + 16.name=imu_rate + 16.type=int + 16.desc=Target update (publishing) rate for imu/data messages. See [[#rates|Update Rates]] below. + 16.default=10 + 17.name=odom_rate + 17.type=int + 17.desc=Target update (publishing) rate for nav/odom messages. See [[#rates|Update Rates]] below. + 17.default=10 + } +} +}}} + + +<>> +=== Update Rates === + +The rates are set as a target value in Hz. The device accepts a decimation value for each output; the packet rate is base_rate/decimation, where decimation is an integer. The program calculates the decimation to get close the the desired rate, based on polling the sensor for its base rate. + +For the 3DM-GX4-45 and 3DM-GX5-45 devices tested the base rates were... + + * GPS - base rate = 4 Hz + * IMU - base rate = 500 Hz + * Filter - base rate = 500 Hz + +<> +=== Nav Sat Fix message description == +Position covariance is populated with diagonals based on reported horizontal and vertical accuracy. The status.status field is the LLH position data "valid flag"-1. The valid flag mapping from the 3DM protocol is + * 0x0001 – Latitude and Longitude Valid + * 0x0002 – Ellipsoid Height Valid + * 0x0004 – MSL Height Valid + * 0x0008 – Horizontal Accuracy Valid + * 0x0010 – Vertical Accuracy Valid + * E.g., if all valid, then the status.status field should be 30. + +<> +=== IMU message description === +Coming soon + +<> +=== Odometry message description === + * Currently the pose.position is the longitude (x), latitude (y) and ellipsoid height (z) + * pose.covariance and twist.covariance include diagonal elements for position and attitude + +<> +== Nav Status message description === + + * Includes three values - see communication protocol for full documentation. + * filter_state + * 0x00 – Startup + * 0x01 – Initialization (see status flags) + * 0x02 – Running, Solution Valid + * 0x03 – Running, Solution Error (see status flags) + * dynamics mode + * 0x01 – Portable (device default) + * 0x02 – Automotive + * 0x03 – Airborne + * status_flags + * See device documentation + + +== Build Instructions == + +Building from source +{{{ +DISTRO={hydro|indigo} +cd ~/catkin_ws +rosdep update +rosdep check --from-paths src/microstrain_3dm_gx5_45/ --rosdistro=$DISRO +rosdep install --from-paths src/microstrain_3dm_gx5_45/ --ignore-src --rosdistro=$DISTRO --simulate +rosdep install --from-paths src/microstrain_3dm_gx5_45/ --ignore-src --rosdistro=$DISTRO +catkin_make +source devel/setup.bash +}}} + +== Dev Notes == + + The mip_sdk_user_functions are C functions that need to be called by various parts of the SDK. The main purpose of these functions is to implement the platform-specific serial (RS232) port elements. The prototype serial port open function takes the COM number as an integer input - which is clunky for Linux serial ports. Changed this to take a string defining the port (e.g., /dev/ttyS0), but this necessitated also modifying the mip_sdk_interface.[ch] files, since this is what is called by the application - changed the mip_interface_init function to accept a string argument for specifying the port. + +== TODO == + + * Verify order of quaternions + + +== Examples == + + + +== Launch File Examples == + +Example launch files are provided with the package to illustrate setting the various parameters.