[Microstrain Inertial Package] How to use including ROS node?

• [Goal]
  • Microstrain에서 제공하는 IMU 센서를 ROS driver를 통해서 데이터를 얻을 수 있다.

• [Github]

  GitHub - LORD-MicroStrain/microstrain_inertial: ROS driver for all of MicroStrain’s current G and C series products. To learn more visit

• [How to install?]

  • 먼저 공식 github page에 ros branch로 git clone 하고 하위 모듈까지 같이 받을 수 있도록 clone 진행 후 build

      $ cd ~/catkin_ws/
      $ catkin config -DCMAKE_BUILD_TYPE=Release
      $ cd ./src/
      $ git clone --recursive --branch ros https://github.com/LORD-MicroStrain/microstrain_inertial.git
      $ cd ..
      $ catkin build
      $ source devel/setup.bash
    

  • 다음 launch file을 실행하면 IMU data를 쉽게 취득할 수 있음 !!

      $ roslaunch microstrain_inertial_driver microstrain.launch
    

• [Error Related]
  • 본 저자가 사용한 IMU 기종은 “3DM-GV7-AHRS” 이라서 문제가 발생하는 경우들이 존재하였음
    • 작성일은 2023.11.07 이고 이 시기에 가장 최신 IMU 기종이기 때문에 생기는 문제일듯 함
      • [Error 1]
        • [ERROR] Failed to configure PPS source
        • [ERROR] Error(3): Invalid Parameter

      • [Ref 1]

        • 3dm-cv7 - failed to configure PPS source · Issue #273 · LORD-MicroStrain/microstrain_inertial
      • [Solution 1]
        • GV7 기종이기 때문에 GQ7/CV7 기종만 사용하는 PPS source를 disable 해주어야함 microstrain_inertial_driver_common/config/params.yml 파일안에 filter_pps_source 을 0으로 set 해주어야 함

          • params.yml

              # [Before]
              filter_pps_source : 1
                                    
              # [After]
              filter_pps_source : 0
            

      ---

      • [Error 2]
        • [ERROR] Failed to read configuration for node
        • [ERROR] Unable to configure node base

      • [Ref 2]

        • an instance of ‘mscl::Error_MipCmdFailed’ what(): The DeclinationSource command has failed. · Issue #168 · LORD-MicroStrain/microstrain_inertial
      • [Solution 2]
        • GV7 기종도 filter_declination_source 를 사용하지 않아서 microstrain_inertial_driver_common/config/params.yml 파일안에 filter_declination_source 를 1 으로 set 해주어야 함

          • params.yml

              # [Before]
              filter_declination_source : 2
                                    
              # [After]
              filter_declination_source : 1
            

• [Results]
  • 최종 결과
    • rostopic list

      

      (1) /gps_corr (microstrain_inertial_msgs/GPSCorrelationTimestampStamped)

      → IMU GPS correlation timestamp

      ---

      (2) /imu/data (sensor_msgs/Imu)

      → Raw IMU data

      

      ---

      (3) /nav/filtered_imu/data (sensor_msgs/Imu)

      → Provides filtered IMU data based on the output of the EKF running on the device

      

      ---

      (4) /nav/heading (microstrain_inertial_msgs/FilterHeading)

      → Provides the heading based on the output of the EKF running on the device

      ---

      (5) /nav/odom (nav_msgs/Odometry)

      → Provides odometry based on the output of the EKF running on the device

      

      ---

      (6) /nav/status (microstrain_inertial_msgs/FilterStatus)

      → Provides status of Extended Kalman Filter running on the device