Changelog for package microstrain_inertial_driver

3.0.1 (2023-02-10)

Publishes after every packet to fix lower data rate problem (#229) * Publishes after every packet to fix lower data rate problem
Updates submodule with microseconds to nanoseconds fix (#227)
ROS Fixes odom data rate mapping to refer to the correct topic (#224) * Fixes odom data rate mapping to refer to the correct topic
Contributors: Rob

3.0.0 (2023-01-11)

Fixes for devices that do not support the extended descriptor set command in ROS (#216) * Fixes for devices that do not support the extended descriptor set command in ROS
Validates that all publishers are documented on the wiki for ROS (#211) * Fixes time_ref topics and validates that wiki has all publishers documented
Adds IMU overrange status publishers for ROS (#207) * Adds IMU overrange status publishers for ROS
Adds RF error detection publishers for ROS (#206) * Adds RF error detection to ROS
Adds SBAS info publishers for ROS (#204) * Adds SBAS info publishers for ROS
Adds SBAS settings support to ROS (#202) * Adds SBAS settings support to ROS
ROS Implements the filter lever arm offset command (#196) * Adds ability to configure filter lever arm offset
Feature/ros nmea main port (#192) * Adds ability to parse and publish NMEA from the main port
Feature/ros mip sdk (#191) * Converts to use the mip_sdk instead of MSCL * BREAKING Removes publish_* configuration options and instead relies on more granular *_data_rate options to enable/disable data streams * Switches to compile as a static binary

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Contributors: Rob

2.7.1 (2022-11-09)

Updates submodule with CV7 mag aiding bugfix (#188)
Enable usage of substitution arguments in override params YAML file. (#187)
ROS Do not error when the device does not support antenna offset or S2V commands (#182) * Do not error when the device does not support antenna offset or S2V commands
Contributors: Joey Yang, Rob

2.7.0 (2022-09-23)

ROS serial improvements (#177) * Adds logging loop every second that will print the number of bytes read and written * Adds ability to configure the baudrate on the device using set_baud * Changes *_data_rate fields to floating point numbers to allow users to configure data rates at non whole numbers * Fixes bug where a quaternion would be indexed into before it was populated
ROS Updates params file to note required changes for devices, and corrects incorrect documentation (#170)
Contributors: Rob

2.6.0 (2022-05-25)

ROS Fixes NMEA parsing to not fail when we find certain MIP packets (#159) * Fixes NMEA parsing to not fail when we find certain MIP packets
Runs roslint on the buildfarm (#154)
Fixed reporting of filter pitch and yaw when using ENU frame for ROS (#150)
Adds velocity covarianve for the GNSS odometry message for ROS (#149)
Adds ability to publish velocity in the vehicle frame for ROS (#145)
ROS More granular data rates (#131) * Adds more granular data rates to ROS
ROS Check supported aiding measurements (#140) * Checks if the device supports the requested aiding measurements before enabling/disabling
Adds ability to switch between compensated and linear acceleration for filtered IMU (#128)
Contributors: Lucas Walter, robbiefish

2.5.1 (2022-02-15)

Configures GNSS Antenna offset even if publish_gnss* is False (#124)
Contributors: robbiefish

2.5.0 (2022-01-27)

Only attempts to publish GNSS aiding status if the pointer has been initialized
Added RTK v2 support * Upgraded to MSCL 63.1.0
Adds ability to use ROS time when populating messages
Fixes "does not support" logs
Fixed submodule initialization
Contributors: dacuster, robbiefish

2.4.1 (2022-01-06)

Deprecated args will no longer override params_file unless actually used
Contributors: robbiefish

2.4.0 (2022-01-05)

BREAKING: Changes default namespace from /gx5 to / which is more generic to all usecases as customers are often not using a gx5 device
BREAKING: Changes the name argument to namespace which is more descriptive of what it was doing
Moves most launch file parameters to yml file and allows user to override all default parameters by specifying a different yml file via the params_file argument
Adds new argument node_name to launch file that allows users to change the name of the node
Adds documentation for each launch file argument
Contributors: robbiefish

2.3.0 (2021-12-22)

BREAKING: Updates device_report_service to return the device information instead of just printing it
Publishes Aiding Measurement Summary messages to topic nav/aiding_summary
Publishes Fix Info messages to topic gnss1/fix_info and gnss2/fix_info
Contributors: robbiefish

2.2.1 (2021-12-09)

Defaults RTCM subscription and NMEA publisher to false
Contributors: robbiefish

2.2.0 (2021-12-03)

Adds set filter speed lever arm service to allow users to configure Measurement Speed Lever Arm at runtime with a service call
Subscribes to external speed measurements
Adds ability to configure hardware odometer at config time by sending the Odometer Settings command based on launch config
Adds RTCM subscriber that will subscribe to RTCM corrections as mavros_msgs/RTCM messages and send them to the GQ7 through the aux port
Adds NMEA publisher that will read NMEA sentences from the GQ7 aux port and publish them as nmea_msgs/Sentence messages to a topic
Updates to use FACTORY_STREAMING_MERGE instead of manually casting the hex value when factory streaming is enabled
Updates udev rules to differentiate between main and aux ports
Contributors: ianmooreparker, robbiefish

2.1.0 (2021-11-12)

Adds transform broadcaster that will publish transform between filter_frame_id and filter_child_frame_id
Corrects some ENU conversions that were not being properly made
Properly disables/enables RTK dongle based on launch config
Publishes RTK data even when device_setup is set to false if the device was configured to send RTK data
Contributors: ianmooreparker, robbiefish

2.0.5 (2021-10-19)

Update MSCL version to fix ROS buildfarm errors hopefully
Contributors: robbiefish

2.0.4 (2021-09-08)

Upgrade CMake version and removes unused include in examples
Contributors: robbiefish

2.0.3 (2021-09-08)

Fixes missing dependencies in example and checks gcc directly for architecture
Contributors: robbiefish

2.0.2 (2021-08-30)

Fixes cmake warnings and updates maintainers
Contributors: robbiefish

2.0.1 (2021-08-24)

Moves submodules to accomodate ROS build farm
Contributors: Rob Fisher

2.0.0 (2021-08-24)

Optionally polls and waits for device to exist before trying to connect
Adds tolerance for streaming devices on startup by retrying connections until the device can be communicated with
Moves common code to submodule to reduce code duplication
Renames packages to be compatible with ROS build farm
Gracefully exits on device disconnect
Contributors: Rob Fisher

1.1.4 (2021-07-30)

Installs MSCL from CMake to hopefully allow this package to be built in the buildfarm
Merge pull request #70 from ori-drs/master [ros_mscl] Turn filter_data_rate and imu_data_rate into an argument
[ros_mscl] Turn filter_data_rate and imu_data_rate into an argument
Eliminated build warnings
Fixed a bug that wouldn't allow the rtk dongle to be enabled as it was using the wrong variable to enable it.
See changelog
Added aiding measurement summary for each GNSS (GQ7 only) Added MSCL version output when node starts
Merge pull request #50 from civerachb-cpr/master Add an arg to enable setting NED/ENU frame parameter
Add an arg to enable setting NED/ENU frame parameter
Contributors: Chris Iverach-Brereton, Nathan Miller, Wolfgang Merkt, nathanmillerparker, robbiefish

1.1.3 (2021-04-21)

Removed duplicate Filter LLH Pos entry in message format Preparing for release on Bloom
Merge pull request #49 from civerachb-cpr/rosdep-fix Add tf2_geometry_msgs as a dependency
Add tf2_geometry_msgs as a dependency
Merge pull request #48 from civerachb-cpr/master Make frame IDs configurable
Add args for all of the frame ids to allow them to be modified when launching. Keep the old static values as the defaults.
Added frame ids back in to not break existing configurations
Added a flag to set ENU as the local reference frame Moved sensor2vehicle frame transformation setting code to occur if filter data is not enabled See changelog for more info
Added user notifications in the case a command isn't supported by a device. Added support for the speedometer lever arm offset command
Corrected description in launch file to point out the quaternion version of the sensor2vehicle frame transformation is not currently supported on the GQ7
Added ROS_INFO/ROS_ERROR reporting for setting sensor2vehicle frame transformation... had a silent error for the quaternion version on the GQ7.
Added the filter GPS timestamp packet to the configured messages.
- Driver modified to support MSCL version 61.1.6
- Fixed missing boolean set for RTK status message publishing
Timestamp change: 1. Launch file setting "use_device_timestamp" (bool) created to allow user to select between device generated timestamp and packet received time (generated using PC time upon packet reception.) - Some applications require the PC received time to sync with other packages - Some applications require the device generated timestamp for accurate time of when the data was generated Hopefully, this satisfies both needs.
Merge pull request #36 from arpg/master Fixed issue including mscl_msgs
Fixed issue including mscl_msgs
Merge pull request #34 from CaptKrasno/msg Moved Messages to Separate Package and renamed them to match ros convention
Merge branch 'master' into msg
Warning: Contains breaking change to /nav/odom message! Code cleanup, new features, bug fixes See changelog for complete list of changes
Separated Messages into a second package and changed naming to match ros convention
Merge remote-tracking branch 'upstream/master'
Merge pull request #30 from CaptKrasno/gps_corr Added support for gps_correlation_timestamp packet
changed default value for m_publish_gps_corr to false
Merge branch 'master' into gps_corr
Merge pull request #31 from CaptKrasno/gravity redefined g according to the spec
redefined g according to the spec
Added support for gps_correlation_timestamp packet
Modified filter, GNSS, and RTK timestamp handling to disregard valid flags (to match IMU handling)
Added IMU GPS timestamp as a default data setup quantity. Removed IMU timestamp validity check so time still streams prior to GPS lock.
Fixed bug preventing device report service from working on a GQ7.
Added support for raw binary file output and RTK status message (see changelog for details)
Added PPS Source, GPIO Config, and external GPS time updating
Added feature checking for filter reset and imu category
Fixed driver error that tried to publish magnetometer data when it is not present
1. Added device Idle prior to shutdown to play nice across host power cycles
2. Fixed flags used to determine valid time for GNSS time message
Fixed time reference output to use ROS time for header timestamp
sensor_msgs::TimeReference added per user request
Added a resume command at the end of device setup as the GQ7 needs it.
1. Changed GQ7 filter init alignment selector to a bitfield in the example launch file
2. Fixed quaternion sensor2vehicle frame rotation (negated the indices instead of the values by accident)
See changelog for full details. Added support for GQ7 Changed "GPS" topic to "GNSS1" and added "GNSS2" Refactored code
Added Device Settings service: Supports function selectors: 3 (Save), 4 (Load Saved), 5 (Load Defaults)
Added nav filter heading state feedback
Only doing device_status_callback() at 1 Hz now
Fully filled-out device status message
Added missing system timer to device status message
Added a nav heading message to easily interpret current filter heading
Fixed firmware version number reporting in device_report service
1. Fixed missing CMakeList services
2. Updated "Get" services to output data in response (still being tested)
1. Changes to CMakeLists committed (changes were made previously, but didn't update for unknown reasons)
2. Removed unused files
Launch file didn't commit in previous attempts: 1) Cleaned-up the file 2) Renamed the frames for more clear indication of origin
1. Code restructured and commented more fully
2. Quaternions now correct and relative to NED frame
Changes to cleanup driver: 1) Services renamed for better interpretation of functionality 2) Quaternion now output correctly (i.e. wrt NED frame) 3) Frame definitions changed to represent NED frame
Update microstrain_3dm.cpp Adjusted gyro bias capture to 10 seconds
Update microstrain_3dm.cpp
Update microstrain_3dm.cpp
Merge pull request #15 from allenh1/get-set-transform-service-improvements Get/Set Transform Service Improvements
Merge pull request #16 from allenh1/store-mscl-as-unique-ptr Store msclInternalNode as a std::unique_ptr<mscl::InertialNode>
Use the msclInertialNode pointer to check supported commands
Store the mscl::InertialNode as a std::unique_ptr, and remove unused variable from diagnostic updater
Add a service call to get the full transform from sensor to vehicle frame
Replace empty destructor with default keyword
Rename vehicle translation and rotation offset setting services to better match their function
Remove unused service
Fixed sensor to vehicle frame services
Added ZUPT services - cmded_ang_rate_zupt - cmded_vel_zupt - set_heading_source - get_zero_velocity_update_threshold - set_zero_velocity_update_threshold added optional parameters - velocity_zupt_topic - angular_zupt_topic
Added new estfilter channels
Updated frames
Added header info to mag msg
new fields
Custom message for filter status
New fields
New Fields
Update microstrain_3dm.cpp
Publishes nav_status
device_setup parameter for pre-configured nodes
Change heading_source default value
Removed structured bindings No longer requires support for c++17
Switched to device and received timestamps
Added heading_source parameter
Added heading_source parameter
Added /filtered/imu/data
Added /filtered/imu/data
Added realpath to Connection
Update Status Messages Updated status reporting to list only supported diagnostic features. This requires mscl version 55.0.1 or later.
- 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++)
Contributors: Chris Iverach-Brereton, Hunter L. Allen, Kristopher Krasnosky, Nathan Miller, harelb, mgill, nathanmillerparker, rdslord

Changelog for package microstrain_inertial_driver

3.0.1 (2023-02-10)

3.0.0 (2023-01-11)

2.7.1 (2022-11-09)

2.7.0 (2022-09-23)

2.6.0 (2022-05-25)

2.5.1 (2022-02-15)

2.5.0 (2022-01-27)

2.4.1 (2022-01-06)

2.4.0 (2022-01-05)

2.3.0 (2021-12-22)

2.2.1 (2021-12-09)

2.2.0 (2021-12-03)

2.1.0 (2021-11-12)

2.0.5 (2021-10-19)

2.0.4 (2021-09-08)

2.0.3 (2021-09-08)

2.0.2 (2021-08-30)

2.0.1 (2021-08-24)

2.0.0 (2021-08-24)

1.1.4 (2021-07-30)

1.1.3 (2021-04-21)

0.0.4 (2019-10-07)

0.0.3 (2019-08-05)

0.0.2 (2019-05-28)