Implemented using the MicroStrain Inertial Protocol SDK (
Table of Contents
- ROS Wiki
- ROS vs ROS2 versions
- Install Instructions
- Building From Source
- Run Instructions
- Docker Development
- Shared Codebases
- Previous Versions
For more information on the data published and services available see our ROS wiki page
ROS vs ROS2 Versions
Note that this branch contains the ROS implementation for the packages. If you are looking for the ROS2 version, you should go to the
This repo contains the following packages:
microstrain_inertial_driver-- ROS node that will communicate with the devices
microstrain_inertial_msgs-- Collection of messages produced by the
microstrain_inretial_examples-- Collection of examples that show how to interact with the
microstrain_inertial_drivernode. Currently contains one simple C++ and python subscriber node
microstrain_inertial_rqt-- Collection of RQT plugins to view the status of inertial devices when running the
v2.0.5 this package is being built and distributed by the ROS build farm. If you do not need to modify the source, it is recommended to install directly from the buildfarm by running the following commands where
ROS_DISTRO is the version of ROS you are using such as
sudo apt-get update && sudo apt-get install ros-ROS_DISTRO-microstrain-inertial-driver
sudo apt-get update && sudo apt-get install ros-ROS_DISTRO-microstrain-inertial-rqt
For more information on the ROS distros and platforms we support, please see index.ros.org
microstrain_inertial_driver is distributed as a docker image. More information on how to use the image can be found on DockerHub.
If you are interested in working on the node in a docker container, see the Docker Development section.
If you need to modify the source of this repository, or are running on a platform that we do not support, you can build from source by following the Building From Source guide below.
IMPORTANT NOTE ABOUT CLONING
This repo takes advantage of git submodules in order to share code between ROS versions. When cloning the repo, you should clone with the
--recursive flag to get all of the submodules.
If you have already cloned the repo, you can checkout the submodules by running
git submodule update --init --recursive from the project directory
The CMakeLists.txt will automatically checkout the submodule if it does not exist, but it will not keep it up to date. In order to keep up to date, every
time you pull changes you should pull with the
--recurse-submodules flag, or alternatively run
git submodule update --recursive after you have pulled changes
Building from source
Install ROS and create a workspace: Installing and Configuring Your ROS Environment
Clone the repository into your workspace:
git clone --recursive --branch ros https://github.com/LORD-MicroStrain/microstrain_inertial.git ~/your_workspace/src/microstrain_inertial
Install rosdeps for this package:
rosdep install --from-paths ~/your_workspace/src -i -r -y
Build your workspace:
cd ~/your_workspace catkin_make source ~/your_workspace/devel/setup.bash
The source command will need to be run in each terminal prior to launching a ROS node.
Launch the node and publish data
The following command will launch the driver. Keep in mind each instance needs to be run in a separate terminal.
roslaunch microstrain_inertial_driver microstrain.launch
The node has some optional launch parameters that can be specified from the command line in the format
namespace: namespace that the driver will run in. All services and publishers will be prepended with this, default:
node_name: name of the driver, default:
debug: output debug logs, default:
params_file: path to a parameter file to override the default parameters stored in
params.yml, default: empty
Publish data from two devices simultaneously
- Create the following files somewhere on your system (we will assume they are stored in the
~/sensor_a_params.ymlwith the contents:
~/sensor_b_params.ymlwith the contents:
- In two different terminals:
roslaunch microstrain_inertial_driver microstrain.launch node_name:=sensor_a_node namespace:=sensor_a params_file:="~/sensor_a_params.yml"
roslaunch microstrain_inertial_driver microstrain.launch node_name:=sensor_b_node namespace:=sensor_b params_file:="~/sensor_b_params.yml"
This will launch two nodes that publish data to different namespaces:
/sensor_a, connected over port:
/sensor_b, connected over port:
An example subscriber node can be found in the MicroStrain Examples package.
The easiest way to develop in docker while still using an IDE is to use VSCode. Follow the steps below to develop on this repo in a docker container.
- Install the following dependencies:
- Open VSCode and install the following plugins:
- Open this directory in a container:
- Open the
microstrain_inertialdirectory in VSCode
- Click the green
><icon in the bottom left corner of the window
Reopen In Container
- Open the
- Once the project is open in the container, it will take some time to automatically install the rosdeps inside the container, you can then build and run the container by following step 4 of Building from source
If you are comfortable working from the command line, or want to produce your own runtime images, the Makefile in the .devcontainer
directory can be used to build docker images, run a shell inside the docker images and produce a runtime image. Follow the steps below to setup your environment to use the
- Install the following dependencies:
Makefile exposes the following tasks. They can all be run from the
make build-shell- Builds the development docker image and starts a shell session in the image allowing the user to develop and build the ROS project using common commands such as
make image- Builds the runtime image that contains only the required dependencies and the ROS node.
make clean- Cleans up after the above two tasks
ros2 branches share most of their code by using git submodules. The following submodules contain most of the actual implementations:
- microstrain_inertial_driver_common submoduled in this repo at
- microstrain_inertial_msgs_common submoduled in this repo at
- microstrain_inertial_rqt_common submoduled in this repo at
Previous versions of the driver were released as tags on Github. They can also be found in specific branches:
ros-2.x.xcontains the most recent code before the MIP SDK refactor
mastercontains the most recent code before the common codebase refactor (prior to
Different packages in this repo are released under different licenses. For more information, see the LICENSE files in each of the package directories.
Here is a quick overview of the licenses used in each package: