Merge pull request #21 from samkys/cleanup

Cleanup
ros-drivers · Jul 11, 2019 · db3f119 · db3f119
2 parents 87ecdb3 + 43ae385
commit db3f119
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Showing 5 changed files with 2,842 additions and 2,203 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -5,6 +5,7 @@ project(microstrain_mips)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  roslint
   message_generation
   geometry_msgs
   nav_msgs
@@ -479,3 +480,7 @@ install(DIRECTORY launch config
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+## Run roslint on only the node files for now
+# TODO: Add more files as needed
+roslint_cpp(src/microstrain_3dm.cpp src/microstrain_3dm_node.cpp)
diff --git a/include/microstrain_mips/microstrain_3dm.h b/include/microstrain_mips/microstrain_3dm.h
@@ -27,14 +27,15 @@ along with Foobar.  If not, see <http://www.gnu.org/licenses/>.
 #define _MICROSTRAIN_3DM_H
 
 // Tell compiler that the following MIP SDI are C functions
-extern "C" {
-#include "mip_sdk.h"
-#include "byteswap_utilities.h"
-#include "mip_gx4_imu.h"
-#include "mip_gx4_45.h"
-#include "mip_gx4_25.h"
-#include "mip_sdk_3dm.h"
-#include "GX4-45_Test.h"
+extern "C" 
+{
+  #include "mip_sdk.h"
+  #include "byteswap_utilities.h"
+  #include "mip_gx4_imu.h"
+  #include "mip_gx4_45.h"
+  #include "mip_gx4_25.h"
+  #include "mip_sdk_3dm.h"
+  #include "GX4-45_Test.h"
 }
 
 #include <cstdio>
@@ -82,8 +83,8 @@ extern "C" {
 #include "microstrain_mips/SetMagDipAdaptiveVals.h"
 
 
-#define MIP_SDK_GX4_45_IMU_STANDARD_MODE	0x01
-#define MIP_SDK_GX4_45_IMU_DIRECT_MODE	0x02
+#define MIP_SDK_GX4_45_IMU_STANDARD_MODE  0x01
+#define MIP_SDK_GX4_45_IMU_DIRECT_MODE  0x02
 
 #define NUM_COMMAND_LINE_ARGUMENTS 3
 
@@ -241,7 +242,7 @@ namespace Microstrain
   private:
   //! @brief Reset KF service callback
   bool reset_callback(std_srvs::Empty::Request &req,
-		      std_srvs::Empty::Response &resp);
+          std_srvs::Empty::Response &resp);
   //! @brief Convience for printing packet stats
   void print_packet_stats();
 
@@ -309,6 +310,9 @@ namespace Microstrain
   bool publish_imu_;
   bool publish_odom_;
   bool publish_bias_;
+  std::vector<double> imu_linear_cov_;
+  std::vector<double> imu_angular_cov_;
+  std::vector<double> imu_orientation_cov_;
 
   //Device Flags
   bool GX5_15;

diff --git a/launch/microstrain.launch b/launch/microstrain.launch
@@ -37,6 +37,11 @@
     <!-- Declination source 1=None, 2=magnetic, 3=manual -->
     <param name="declination_source" value="2" type="int" />
     <param name="declination" value="0.23" type="double" />
+    <!-- Static IMU message covariance values -->
+    <!-- Since internally these are std::vector we need to use the rosparam tags -->
+    <rosparam param="imu_orientation_cov"> [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01]</rosparam>
+    <rosparam param="imu_linear_cov"> [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01]</rosparam>
+    <rosparam param="imu_angular_cov"> [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01]</rosparam>
 
     <!-- GPS Settings  -45 and -35 Only -->
     <param name="gps_rate" value="4" type="int" />

diff --git a/package.xml b/package.xml
@@ -21,6 +21,7 @@
   <depend>nav_msgs</depend>
 
   <build_depend>message_generation</build_depend> 
+  <build_depend>roslint</build_depend> 
   <exec_depend>message_runtime</exec_depend>
   <exec_depend>diagnostic_updater</exec_depend>
   <exec_depend>diagnostic_aggregator</exec_depend>