GQ7 Odom Localization

Overview

This launch file will launch an instance of the microstrain_inertial_driver connected to a GQ7 that can be used alongside robot_localization or some other form of local frame localization.

Usage

To launch this launch file directly from the command line:

roslaunch microstrain_inertial_localization gq7_odom.launch

To include this launch file into another launch file. Paste this into the <launch> section of your launch file:

<include file="$(find microstrain_inertial_localization)/launch/gq7_odom.launch">
  <!-- Include any arguments you want to override here -->
</include>

Arguments

This launch file can accept the following arguments.

Connection Info

Configuration related to device connection, ports and baudrate

port

• Default: /dev/microstrain_main

• Documentation: Serial port that the GQ7 is connected on

baudrate

• Default: 115200

• Documentation: Baudrate of the serial port that the GQ7 is connected on

aux_port

• Default: /dev/microstrain_aux

• Documentation: Serial port that the GQ7 aux port is connected on. Only used if ntrip is true

aux_baudrate

• Default: 115200

• Documentation: Baudrate of the serial port that the GQ7 aux port is connected on. Only used if ntrip is true

Frame Configuration

Configuration related to what frames will be used when constructing the tf tree

frame_id

• Default: gq7_link

• Documentation: The frame ID that will represent the GQ7 in the tf tree

map_frame_id

• Default: map

• Documentation: The frame ID of the local tangent plane

odom_frame_id

• Default: odom

• Documentation: The frame ID that you want to globally localize.

gnss1_frame_id

• Default: gnss_1_antenna_link

• Documentation: The frame ID that will represent GNSS antenna 1 in the tf tree

gnss2_frame_id

• Default: gnss_2_antenna_link

• Documentation: The frame ID that will represent GNSS antenna 2 in the tf tree

Tangent Plane Configuration

Configuration relevant to the location of the tangent plane. See the params.yml for more information.

filter_relative_position_frame

• Default: 2

• Documentation: Relative position frame selector

filter_relative_position_source

• Default: 2

• Documentation: Relataive position source selector

filter_relative_position_ref

• Default: [0.0, 0.0, 0.01]

• Documentation: Reference position. Units dictated by filter_relative_position_frame

GNSS Antenna offset configuration

Configuration about how GNSS antenna offsets will be configured. See the params.yml for more information.

gnss1_antenna_offset_source

• Default: 1

• Documentation: GNSS1 antenna offset source selector

gnss1_antenna_offset

• Default: [0.0, 0.7, 0.0]

• Documentation: GNSS1 antenna offset. Only used if gnss1_antenna_offset_source is set to 1

gnss2_antenna_offset_source

• Default: 1

• Documentation: GNSS1 antenna offset source selector

gnss2_antenna_offset

• Default: [0.0, -0.7, 0.0]

• Documentation: GNSS1 antenna offset. Only used if gnss1_antenna_offset_source is set to 1

Heading Settings

Configuration about how the GQ7 will obtain it's heading. See the params.yml for more information

filter_auto_heading_alignment_selector

• Default: 1

• Documentation: Filter initialization auto-heading alignment selector

NTRIP Settings

Settings related to the optional NTRIP client that this launch file can start if requested. For more information, see ntrip_client

ntrip

• Default: false

• Documentation: Whether or not to enable the NTRIP interface on the microstrain driver and run an NTRIP client

ntrip_host

• Default: 20.185.11.35

• Documentation: The host name or IP of the NTRIP caster you want to connect to

ntrip_port

• Default: 2101

• Documentation: The port of the NTRIP caster you want to connect to

ntrip_mountpoint

• Default: VRS_RTCM3

• Documentation: The mountpoint on the NTRIP caster you want to connec to

ntrip_username

• Default: user

• Documentation: Username to use to authenticate with the NTRIP caster

ntrip_password

• Default: pass

• Documentation: Password to use to authenticate with the NTRIP caster

ntrip_ssl

• Default: false

• Documentation: Whether or not to connect using SSL to the NTRIP caster

Robot Localization Settings

Settings related to how we will integrate with robot_localization.

robot_localization

• Default: false

• Documentation: Whether we should run our own ekf_localization node

robot_localization_name

• Default: ekf_localization

• Documentation: Name of either our node or already running robot_localization node

robot_localization_imu_name

• Default: imu0

• Documentation: Sensor name for the IMU data in robot_localization

Mock Robot Settings

Settings related to whether we will launch a mock robot description node. This should be used for testing purposes only

mock_robot

• Default: false

• Documentation: Whether we should run a simple description containing a mock robot for testing purposes

Additional Parameters

Settings that allow users to add additional parameters to the nodes that are not exposed in the launch file

params_file

• Default:

• Documentation: Path to file that contains additional parameters not exposed here