Description

Collection of launch files and configuration files to allow for easy localization using microstrain_inertial

Install Instructions

Buildfarm

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 noetic.

sudo apt-get update && sudo apt-get install ros-ROS_DISTRO-microstrain-inertial-localization

For more information on the ROS distros and platforms we support, please see index.ros.org

Source

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.

Building from source

1. Install ROS and create a workspace: Installing and Configuring Your ROS Environment

2. Clone the repository into your workspace:

   git clone --branch ros https://github.com/microstrain-robotics/microstrain_inertial_localization.git ~/your_workspace/src/microstrain_inertial_localization

3. Install rosdeps for this package: rosdep install --from-paths ~/your_workspace/src -i -r -y

4. 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.

Usage

Each use case is seperated into it's own launch file under the launch directory. These launch files each have their own set of configuration files under the config directory. for more information on how to use these launch files please see the ROS wiki.