User guide of 3DM-GV7-AHRS driver

This rep is to provide a ros2 humble driver for 3DM-GV7-AHRS, which has been tested with the robot Husky in the project CORAL.

It contains two branches:

• main is a ros2 humble driver.
• docker is a docker implementation of os2 humble driver.

Config driver

1. The device will be detected as /dev/microstrain_main automatically to the machine. To do this, remember to finish the following two steps:

   1. Copy config/100-microstrain.rules in this folder to the folder /etc/udev/rules.d/100-microstrain.rulesrobot/host machine that the device is connected to.
   2. In using Docker, remember to mount the device to your Docker container by -v /dev/microstrain_main:/dev/microstrain_main.

2. However, you may need to write your own launch file and use that to replace microstrain_inertial_examples/launchcv7_launch.py, or you can call the node in your launch file using the code below.

    _MICROSTRAIN_LAUNCH_FILE = os.path.join(ament_index_python.packages.get_package_share_directory('microstrain_inertial_driver'), 'launch', 'microstrain_launch.py')
    _CV7_PARAMS_FILE = os.path.join(ament_index_python.packages.get_package_share_directory('microstrain_inertial_examples'), 'config', 'cv7', 'cv7.yml')
    _RVIZ_DISPLAY_FILE = os.path.join(ament_index_python.packages.get_package_share_directory('microstrain_inertial_examples'), 'config', 'cv7', 'display.rviz')

    def generate_launch_description():
    return LaunchDescription([
       # Microstrain node
       IncludeLaunchDescription(
          PythonLaunchDescriptionSource(_MICROSTRAIN_LAUNCH_FILE),
          launch_arguments={
          'configure': 'true',
          'activate': 'true',
          'params_file': _CV7_PARAMS_FILE,
          'namespace': '/',
          }.items()
       ),