From 0d1773e2874bf7add37c89bf8c9aac5255e6252a Mon Sep 17 00:00:00 2001
From: Jeff Schmidt <jschmidt@clearpathrobotics.com>
Date: Mon, 17 Apr 2017 15:29:05 -0400
Subject: [PATCH 1/2] Update microstrain_25.launch

removed references to GX4
now looks for the "/dev/microstrain" symlink created by the udev rule
changed the frame_ids to more conventional or useful names
---
 launch/microstrain_25.launch | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/launch/microstrain_25.launch b/launch/microstrain_25.launch
index 74dc51bd..f35e035d 100644
--- a/launch/microstrain_25.launch
+++ b/launch/microstrain_25.launch
@@ -1,17 +1,18 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Standalone example launch file for 3DM-GX4-25 -->
+  <!-- Standalone example launch file for 3DM-GX5-25 -->
 
   <!-- For setting debug level to debug -->
+  <!--
   <env name="ROSCONSOLE_CONFIG_FILE" 
        value="$(find microstrain_3dm_gx5_45)/config/custom_rosconsole.conf"/>
+  -->
 
   <!-- Microstain sensor node -->
-  <node name="microstrain_3dm_gx4_25_node" 
+  <node name="microstrain_3dm_gx5_25_node" 
   pkg="microstrain_3dm_gx5_45" 
   type="microstrain_3dm_gx5_45_node" output="screen">
-    <!--<param name="port" value="/dev/ttyACM0" type="str" />-->
-    <param name="port" value="/dev/ttyUSB0" type="str" />
+    <param name="port" value="/dev/microstrain" type="str" />
     <param name="baudrate" value="115200" type="int" />
 
     <param name="device_setup" value="true" type="bool" />
@@ -20,11 +21,11 @@
     <param name="save_settings" value="true" type="bool" />
     <param name="auto_init" value="true" type="bool" />
 
-    <!-- The GX4-25 is AHRS only, so need to turn off the other messages -->
+    <!-- The GX5-25 is AHRS only, so need to turn off the other messages -->
     <!-- AHRS Settings -->
     <param name="publish_imu" value="true" type="bool" />
     <param name="imu_rate" value="100" type="int" />
-    <param name="imu_frame_id" value="base_link" type="str" />
+    <param name="imu_frame_id" value="imu_link" type="str" />
     <!-- Setting manual declination is not yet implemented/testes -->
     <!-- Declination source 1=None, 2=magnetic, 3=manual -->
     <param name="declination_source" value="2" type="int" />
@@ -32,14 +33,14 @@
 
     <!-- GPS Settings  -45 and -35 Only -->
     <param name="gps_rate" value="4" type="int" />    
-    <param name="gps_frame_id" value="wgs84" type="str" />
+    <param name="gps_frame_id" value="navsat_link" type="str" />
     <param name="publish_gps" value="false" type="bool" />
 
     <!-- Filter Settings - GXx-45 Only -->
     <param name="publish_odom" value="false" type="bool" />
     <param name="nav_rate" value="10" type="int" />
     <param name="dynamics_mode" value="1" type="int" />
-    <param name="odom_frame_id" value="wgs84" type="str" />
+    <param name="odom_frame_id" value="wgs84_odom_link" type="str" />
     <param name="odom_child_frame_id" value="base_link" type="str" />
   </node>
 
@@ -50,4 +51,4 @@
   <!--<node pkg="rqt_plot" type="rqt_plot" name="pid_setpoints"
       args="/yaw_pid_debug/Setpoint /vel_pid_debug/Setpoint"/>-->
  
-</launch>
\ No newline at end of file
+</launch>

From b3b8b7c944a1a4589a014d731c943e4bf5717eba Mon Sep 17 00:00:00 2001
From: Jeff Schmidt <jschmidt@clearpathrobotics.com>
Date: Mon, 17 Apr 2017 15:30:38 -0400
Subject: [PATCH 2/2] Create 99-microstrain.rules

Creates a symlink in /dev when a Microstrain device is connected.
---
 udev/99-microstrain.rules | 11 +++++++++++
 1 file changed, 11 insertions(+)
 create mode 100644 udev/99-microstrain.rules

diff --git a/udev/99-microstrain.rules b/udev/99-microstrain.rules
new file mode 100644
index 00000000..c4c11419
--- /dev/null
+++ b/udev/99-microstrain.rules
@@ -0,0 +1,11 @@
+# Universal rule for GX3/4/5 devices
+SUBSYSTEM=="tty", SUBSYSTEMS=="usb", ATTRS{product}=="Lord Inertial Sensor", SYMLINK="microstrain", MODE="0666"
+
+# Vendor/Product-locked rules for GX3/4/5 devices
+#SUBSYSTEM=="tty", ATTRS{idVendor}=="199b", ATTRS{idProduct}=="3065", SYMLINK="microstrain", MODE="0666"
+#SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", SYMLINK="microstrain", MODE="0666"
+
+# Uncomment these rules if you'd like the serial number to appear in the symlink.  Useful if you have multiple devices.
+#SUBSYSTEM=="tty", ATTRS{idVendor}=="199b", ATTRS{idProduct}=="3065", SYMLINK+="microstrain_%s{serial}", MODE="0666"
+#SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", SYMLINK+="microstrain_%s{serial}", MODE="0666"
+#SUBSYSTEM=="tty", SUBSYSTEMS=="usb", ATTRS{product}=="Lord Inertial Sensor", SYMLINK+="microstrain_%s{serial}", MODE="0666"