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Gx25 launch file and udev rule #3

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merged 2 commits into from
Apr 18, 2017
Merged

Gx25 launch file and udev rule #3

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0d1773e
Update microstrain_25.launch
jeff-o Apr 17, 2017
b3b8b7c
Create 99-microstrain.rules
jeff-o Apr 17, 2017
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19 changes: 10 additions & 9 deletions launch/microstrain_25.launch
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Original file line number Diff line number Diff line change
@@ -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" />
Expand All @@ -20,26 +21,26 @@
<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" />
<param name="declination" value="0.23" type="double" />

<!-- 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>

Expand All @@ -50,4 +51,4 @@
<!--<node pkg="rqt_plot" type="rqt_plot" name="pid_setpoints"
args="/yaw_pid_debug/Setpoint /vel_pid_debug/Setpoint"/>-->

</launch>
</launch>
11 changes: 11 additions & 0 deletions udev/99-microstrain.rules
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Original file line number Diff line number Diff line change
@@ -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"