From 8a49d31737bd1ea4ed2b499632a27c08b3f34f14 Mon Sep 17 00:00:00 2001 From: Brian Bingham Date: Tue, 20 Dec 2016 08:46:53 -0800 Subject: [PATCH] Update README.md --- README.md | 55 ++++++++++++++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 52 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 1c4f1070..13e97c5a 100644 --- a/README.md +++ b/README.md @@ -1,14 +1,12 @@ # microstrain_3dm_gx5_45 - - ## Description Interface 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: - * GX4-45_Test : A port of the executable that comes with the SDK including minimial changes in the way the serial port is specified. Running {rosrun microstrain_3dm_gx5_45 GX4-45_Test /dev/ttyACM0 115200} should run the tests on a unit as a first step. + * GX4-45_Test : A minimal port of the executable that comes with the SDK including minimial changes in the way the serial port is specified. Running {rosrun microstrain_3dm_gx5_45 GX4-45_Test /dev/ttyACM0 115200} should run the tests on a unit as a first step. The program runs through many diagnistics and is a good way to determine compatility with different hardware versions of the 3DM-GXX devices. * microstrain_3dm_gx5_45 : ROS node ## Dependencies @@ -31,3 +29,54 @@ Here are the steps I took to build the code... 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. + # microstrain_3dm_gx5_45 + Documentation for the ROS node - to be moved to ROS wiki when driver is released + + ## Published Topics + + ~gps/fix (sensor_msgs/NavSatFix) + + ~imu/data (sensor_msgs/Imu) + + ~nav/odom (nav_msgs/Odometry) + + ~nav/status (std_msgs/Int16MultiArray) + + + ## Services + + ~reset_kf (std_srvs/Empty) TODO + + ## Parameters + + ~port (string, default: /dev/ttyACM0) +The serial port to which the device is connected + +~baud_rate (integer, default: 115200) +Baud rate of the sensor. + +~declination (double, default: 3.8) TODO +Magnetic declination for given area. + +~gps_frame_id (string, default: world) +Value for the frame_id field of the + +~child_frame_id (string, default: /base_footprint) TODO +Odometry data will be published with this child_frame_id. + +~publish_pose (bool, default: true) +Sets if ~imu/pose should be advertised or not. + +~publish_imu (bool, default: true) +Sets if ~imu/data should be advertised or not. + +~publish_gps (bool, default: true) +Sets if ~gps/fix should be advertised or not. + + + + + + + +