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The microstrain_inertial package contains the following ROS packages:

• microstrain_inertial_driver -- ROS node that will communicate with the devices
• microstrain_inertial_msgs -- Collection of messages produced by the microstrain_inertial_driver node
• microstrain_inretial_examples -- Collection of examples that show how to interact with the microstrain_inertial_driver node.
• microstrain_inertial_rqt -- Collection of RQT plugins to view the status of inertial devices when running the microstrain_inertial_driver

Supported Devices

3DM-GQ7, 3DM-CV7-INS, 3DM-GV7-INS, 3DM-CV7-AHRS, 3DM-GV7-AHRS, 3DM-GX5-45, 3DM-GX5-25, 3DM-GX5-15

ROS vs ROS 2 Versions

There is a branch for each ROS version. The ros branch contains the ROS implementation, and the ros2 branch contains the ROS 2 implementation.

Shared codebases

Both the ros and 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 at microstrain_inertial_driver/microstrain_inertial_driver_common
• microstrain_inertial_msgs_common submoduled at microstrain_inertial_msgs/microstrain_inertial_msgs_common
• microstrain_inertial_rqt_common submoduled at microstrain_inertial_rqt/microstrain_inertial_rqt_common

Previous Versions

Previous versions of the driver were released as tags on Github. They can also be found in specific branches:

• ros2-3.x.x contains the most recent code before the standardizing refactor
• ros2-2.x.x contains the most recent code before the MIP SDK refactor