Properly support GX5 (#77)

* Updated udev rule to differentiate between the GX3 (legacy) and the GX5 (current) and install a different launch file

* Removed unnecessary launch lines

* Updated dependencies and gx5 launch for new mips package

* Fixed package typo

husky_bringup/launch/microstrain_config/microstrain.launch → husky_bringup/launch/microstrain_gx3_config/microstrain_gx3.launch

@@ -3,7 +3,7 @@
 <!-- imu -->
   <node pkg="microstrain_3dmgx2_imu" type="imu_node" name="microstrain_imu">
     <param name="time_offset" value="-0.040" />
-    <param name="port" value="/dev/microstrain" />
+    <param name="port" value="/dev/microstrain_gx3" />
     <param name="frame_id" type="string" value="imu_link" />
     <param name="autocalibrate" value="true" />
     <param name="angular_velocity_stdev" value="0.00017" />

husky_bringup/launch/microstrain_gx5_config/microstrain_gx5.launch

+<?xml version="1.0"?>
+<launch>
+  <!-- Standalone example launch file for 3DM-GX5-25 -->
+
+  <!-- Declare arguments with default values -->
+  <arg name="port" default="/dev/microstrain_gx5" />
+  <arg name="baudrate" default="115200" />
+  <arg name="imu_rate" default="100" />
+  <arg name="imu_frame_id" default="imu_link" />
+  <arg name="debug" default="false" />
+  <arg name="diagnostics" default="false" />
+
+  <!-- For setting debug level to debug -->
+  <group if="$(arg debug)">
+    <env name="ROSCONSOLE_CONFIG_FILE"
+       value="$(find microstrain_mips)/config/custom_rosconsole.conf"/>
+  </group>
+
+  <!-- Microstrain sensor node -->
+  <node name="microstrain_mips_node"
+  pkg="microstrain_mips"
+  type="microstrain_mips_node" output="screen" ns="gx5">
+    <param name="port" value="$(arg port)" type="str" />
+    <param name="baudrate" value="$(arg baudrate)" type="int" />
+
+    <param name="device_setup" value="true" type="bool" />
+    <!-- General Settings -->
+    <param name="readback_settings" value="true" type="bool" />
+    <param name="save_settings" value="true" type="bool" />
+    <param name="auto_init" value="true" type="bool" />
+
+    <!-- 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="$(arg imu_rate)" type="int" />
+    <param name="imu_frame_id" value="$(arg imu_frame_id)" type="str" />
+    <!-- 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="navsat_link" type="str" />
+
+    <!-- Filter Settings - GXx-45 Only -->
+    <param name="nav_rate" value="10" type="int" />
+    <param name="dynamics_mode" value="1" type="int" />
+    <param name="odom_frame_id" value="wgs84_odom_link" type="str" />
+    <param name="odom_child_frame_id" value="base_link" type="str" />
+  </node>
+
+  <!-- Diagnostics -->
+  <group if="$(arg diagnostics)">
+    <!--<node pkg="rqt_topic" type="rqt_topic" name="rqt_topic"/>-->
+    <!--<node pkg="rqt_plot" type="rqt_plot" name="pid_setpoints"
+      args="/yaw_pid_debug/Setpoint /vel_pid_debug/Setpoint"/>-->
+    <!-- Diagnostic Aggregator for robot monitor usage -->
+    <node pkg="diagnostic_aggregator" type="aggregator_node" name="imu_diagnostic_aggregator">
+      <rosparam command="load" file="$(find microstrain_mips)/config/diagnostic_analyzers.yaml" />
+    </node>
+  </group>
+
+
+</launch>

husky_bringup/package.xml

@@ -28,6 +28,7 @@
   <run_depend>imu_transformer</run_depend>
   <run_depend>lms1xx</run_depend>
   <run_depend>microstrain_3dmgx2_imu</run_depend>
+  <run_depend>microstrain_mips</run_depend>
   <run_depend>nmea_comms</run_depend>
   <run_depend>nmea_navsat_driver</run_depend>
   <run_depend>python-scipy</run_depend>

husky_bringup/scripts/install

@@ -14,8 +14,11 @@ if os.path.exists('/dev/clearpath/imu') or os.path.exists('/dev/clearpath/um6'):
 if os.path.exists('/dev/clearpath/um7'):
   j.add(package="husky_bringup", glob="launch/um7_config/*")
 
-if os.path.exists('/dev/microstrain'):
-  j.add(package="husky_bringup", glob="launch/microstrain_config/*")
+if os.path.exists('/dev/microstrain_gx3'):
+  j.add(package="husky_bringup", glob="launch/microstrain_gx3_config/*")
+
+if os.path.exists('/dev/microstrain_gx5'):
+  j.add(package="husky_bringup", glob="launch/microstrain_gx5_config/*")
 
 if os.path.exists('/dev/clearpath/gps'):
   j.add(package="husky_bringup", glob="launch/navsat_config/*")

husky_bringup/udev/10-microstrain.rules

-SUBSYSTEM=="tty", ATTRS{idVendor}=="199b", ATTRS{idProduct}=="3065", SYMLINK="microstrain", MODE="0666"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="199b", ATTRS{idProduct}=="3065", SYMLINK="microstrain_gx3", MODE="0666"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", SYMLINK="microstrain_gx5", MODE="0666"
+