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Overview

This package implements MIP protocol used by Microstrain 3DM-GX3-45 sensor which is inertial device fusing IMU and GPS. It contains implementation of driver and ROS node. The driver has been written from scratch using Boost ASIO library.

Installation

Download and compile (rosbuild-based) package.

Supported Hardware

Driver has been tested only with Microstrain 3DM-GX3-45, under ROS Groovy.

API Stability

Driver, node and their API are in experimental phase.

ROS API

imu_driver

imu_driver is a driver for the device. On different topics it provides raw GPS data, AHRS data and fused data. Any topic is advertised only if it's enabled. If enabled and someone is subscribed, node publishes data on that particular topic.

Published Topics

~imu/data (sensor_msgs/Imu) ~imu/pose (geometry_msgs/PoseStamped) ~gps/fix (sensor_msgs/NavSatFix) ~gps/odom (nav_msgs/Odometry) ~nav/pose (geometry_msgs/PoseStamped)

Services

~reset_kf (std_srvs/Empty)

Parameters

~port (string, default: /dev/ttyACM0) ~baud_rate (integer, default: 115200) ~declination (double, default: 3.8) ~child_frame_id (string, default: /base_footprint) ~publish_pose (bool, default: true) ~publish_imu (bool, default: true) ~publish_gps (bool, default: true) ~publish_gps_as_odom (bool, default: true) ~publish_nav_odom (bool, default: true) ~publish_nav_pose (bool, default: true) ~publish_nav_fix (bool, default: true) ~linear_acceleration_stdev (double, default: 0.098) ~orientation_stdev (double, default: 0.035) ~angular_velocity_stdev (double, default: 0.012)


2017-09-23 12:58