Adds documentation for recently added microstrain_gq7 GPS sensor

docs_versioned_docs/version-ros2humble/components/yaml/sensors/microstrain_gq7.mdx

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+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/microstrain_gq7.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+gps:
+  - model: microstrain_gq7
+    urdf_enabled: true
+    launch_enabled: true
+    parent: base_link
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    ros_parameters:
+      microstrain_inertial_driver:
+        frame_id: gps_0_link
+        port: "/dev/microstrain_main"
+        baudrate: 115200
+```
+</td>
+</tr>
+</table>
+
+#### Package and Setup
+The MicroStrain GQ7 sensor uses the `microstrain_inertial_driver` ROS 2 driver. The driver is open source, maintained by MicroStrain by HBK, and hosted on [GitHub](https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros2).
+
+For specifics on the way Clearpath's configuration system launches the sensor driver, see the MicroStrain GQ7 [launch file](https://github.com/clearpathrobotics/clearpath_robot/blob/main/clearpath_sensors/launch/microstrain_gq7.launch.py) and the [default parameter file](https://github.com/clearpathrobotics/clearpath_robot/blob/main/clearpath_sensors/config/microstrain_gq7.yaml) in `clearpath_sensors`.
+
+For a list of all possible parameters and documentation on what they do, see the [params.yml](https://github.com/LORD-MicroStrain/microstrain_inertial_driver_common/blob/main/config/params.yml) provided by the `microstrain_inertial_driver`
+
+#### Device Path
+The `port` ROS parameter must be set to the device path of the MicroStrain GQ7. To simplify this process, use the `/dev/microstrain_main` or `/dev/microstrain_main_<SerialNumber>` path. This path is only available when the MicroStrain UDEV rules are installed. These are installed alongside the `microstrain_inertial_driver` package. If the receiver is connected, but the `/dev/microstrain_main` device is not, check the file `/lib/udev/rules.d/60-ros-humble-microstrain-inertial-driver.rules` exists.

docs_versioned_docs/version-ros2humble/robots/accessories/sensors/gps/microstrain_gq7.mdx

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+---
+title: MicroStrain GQ7
+sidebar_position: 3
+---
+
+import Support from "/components/support.mdx";
+import YAML from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/microstrain_gq7.mdx";
+
+<center>
+  <img
+    src="/img/sensor_images/microstrain_gq7.jpeg"
+    width="400"
+  />
+</center>
+
+## Item Numbers
+
+| Description                 |                         CPR Item                         | Sales Kit | Installation Kit, With Fasteners |
+| :-------------------------- | :------------------------------------------------------: | :-------: | :------------------------------: |
+| MicroStrain GQ7             | N/A                                                      |  N/A      |              N/A                 |
+
+---
+
+## Specifications
+
+| Description                                                                                                | Value                                                   |
+| :--------------------------------------------------------------------------------------------------------- | :------------------------------------------------------ |
+| Mass                                                                                                       | 78 g                                                    |
+| Voltage, Minimum                                                                                           | 4.2 V                                                   |
+| Voltage, Maximum                                                                                           | 16 V                                                    |
+| Voltage, Sensor                                                                                            | 5 V or 12 V                                             |
+| Power, Average                                                                                             | 2.0 W                                                   |
+| Data                                                                                                       | USB or RS-232<br />Default setting is 115200 baud       |
+| View, Vertical                                                                                             | Unknown                                                 |
+| Position Accuracy                                                                                          | 1.25 m horizontal<br />2 m vertical                     |
+| Position Accuracy RTK (requires a [Base Station](../../add-ons/base_station.mdx) or a positioning-service) | 2 cm                                                    |
+| Ingress Protection, Solids                                                                                 | 4                                                       |
+| Ingress Protection, Liquids                                                                                | None                                                    |
+| Operating Temperature, Min                                                                                 | -40 °C                                                  |
+| Operating Temperature, Max                                                                                 | 85 °C                                                   |
+
+---
+
+## Software Bringup
+This sensor is included in the Clearpath Robotics robot package that is installed on all of our robots.
+This allows you to add or remove the sensor from your robot's software description by modifying the [robot configuration yaml](../../../../ros/config/yaml/sensors/overview.mdx).
+
+<YAML/>
+
+#### Antenna Offsets
+
+The GQ7 needs to have it's antenna offsets properly configured in order to get optimal position and orientation estimates. The `microstrain_inertial_driver` makes this easy to do,
+and allows multiple ways to accomplish this.
+
+##### From tf tree
+
+The `microstrain_inertial_driver` can look up the location of the antennas from the transform tree as long as it is configured to look for the correct frames.
+One can configure antenna offsets to be looked up from the transform tree by including the following parameters
+
+```yaml
+gps:
+  - model: microstrain_gq7
+    ...
+    ros_parameters:
+      microstrain_inertial_driver:
+        gnss1_antenna_offset_source : 2
+        gnss1_frame_id              : "right_antenna_link"
+        gnss2_antenna_offset_source : 2
+        gnss2_frame_id              : "left_antenna_link"
+```
+
+A more complete example of configuring the GQ7 to look up the locations of the antennas from the transform tree, and setting up the antennas in the robot.yaml can be found
+[here](https://github.com/clearpathrobotics/clearpath_config/tree/main/clearpath_config/sample/j100/j100_microstrain_gq7.yaml)
+
+##### Manually
+
+This method is not recommended for use with clearpath robots as the `robot.yaml` makes it easy to define GNSS antennas in your robot description, but it is the quickest way to get started.
+One can configure antenna offsets manually by including the following parameters:
+
+**IMPORTANT**: When manually configuring the antenna offsets, the measurements will be in the MicroStrain vehicle frame. See
+[this wiki page](https://wiki.ros.org/microstrain_inertial_driver/use_enu_frame#different_frames) for more information.
+
+```yaml
+gps:
+  - model: microstrain_gq7
+    ...
+    ros_parameters:
+      microstrain_inertial_driver:
+        gnss1_antenna_offset_source : 1
+        gnss1_antenna_offset        : [0.0, 0.7, -1.0]  # x, y, z in meters
+        gnss2_antenna_offset_source : 1
+        gnss2_antenna_offset        : [0.0, -0.7, -1.0]  # x, y, z in meters
+```
+
+#### Transforms
+
+In order to integrate more easily with existing ROS tools such as RViz and Nav2, the `microstrain_inertial_driver` will publish several transforms.
+
+The default behavior of the device when used in a clearpath robot is to publish the global position of the `odom` frame relative to the first valid fix received by the device,
+but it can be configured to publish the global position of a different frame, or no frames at all.
+For more information on the transforms published and how to configure them, see the [transforms](https://wiki.ros.org/microstrain_inertial_driver/transforms)
+page of the `microstrain_inertial_driver` wiki.
+
+
+---
+
+## Troubleshooting
+
+<Support />
+
+For issues directly related to the `microstrain_inertial_driver` or the GQ7, please open an issue on [GitHub](https://github.com/LORD-MicroStrain/microstrain_inertial/issues/new/choose)
+
+---
+
+## Further Reading
+
+1.  [Clearpath Robotics Store](https://store.clearpathrobotics.com/collections/gnss-ins)
+2.  [GQ7 User Manual](https://files.microstrain.com/GQ7+User+Manual/Home.htm)
+3.  [GQ7 Webpage](https://www.microstrain.com/inertial-sensors/3dm-gq7)
+4.  [microstrain_inertial_driver wiki](https://wiki.ros.org/microstrain_inertial_driver)
+5.  [microstrain_inertial_description wiki](https://wiki.ros.org/microstrain_inertial_description)