ROS Standardize and update to work better with ROS standard tools (#294)

* First pass at standardizing topics and transforms

* Updates submodules and removes diagnostics node

* Updates submodule

* Updates with ROS2 fixes

* Updates and tests with ROS

* Improves intellisense for vscode in docker and updates submodule

* Updates submodule

* Updates submodules

* Updates ROS to work with msg files in directories

* Updates ROS to work with new services

* First pass at getting quickview working

* Adds CV7-INS F9P example and computes relative position manually

* Gets ROS to build

* Adds device examples

* Moves CV7-INS with F9P example to seperate repo

* Updates readme and udev rule

* Updates udev rules and adds first pass at urdf and mesh files

* Updates models and works on urdf

* Updates submodule to allow specifying GNSS antenna offset source

* Updates submodule

* Updates submodule

* Updates examples and fixes raw imu data quaternion

* Updates submodule

* Updates submodule to rotate covariance

* Updates submodule to write reference frame to determine max number of reference frames instead of read them

* Updates submodule

* Updates submodule

* Adds detailed changelog

* Makes the examples package a catkin package

* Should remove warning from build

* Updates submodule to fix linter errors

* Updates submodule to main

---------

.devcontainer/.vscode-docker/c_cpp_properties.json

@@ -1,19 +1,9 @@
 {
     "configurations": [
         {
-            "name": "Linux",
-            "includePath": [
-                "/usr/local/include/**",
-                "${workspaceFolder}/**",
-                "/opt/ros/**"
-            ],
-            "defines": [
-                "MICROSTRAIN_ROS_VERSION=1"
-            ],
-            "compilerPath": "/usr/bin/gcc",
-            "cStandard": "gnu17",
-            "cppStandard": "gnu++14",
-            "intelliSenseMode": "linux-gcc-x64"
+            "name": "CMake",
+            "compileCommands": "${config:cmake.buildDirectory}/compile_commands.json",
+            "configurationProvider": "ms-vscode.cmake-tools"
         }
     ],
     "version": 4

.devcontainer/.vscode-docker/settings.json

@@ -1,11 +1,11 @@
 {
     "python.autoComplete.extraPaths": [
-        "/home/ros-mscl/devel/lib/python3/dist-packages",
-        "/opt/ros/noetic/lib/python3/dist-packages"
+        "/home/microstrain/catkin_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages",
     ],
     "python.analysis.extraPaths": [
-        "/home/ros-mscl/devel/lib/python3/dist-packages",
-        "/opt/ros/noetic/lib/python3/dist-packages"
+        "/home/microstrain/catkin_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages",
     ],
     "editor.tabSize": 2,
     "files.associations": {

.devcontainer/devcontainer.json

@@ -10,13 +10,17 @@
             "GROUP_ID": "1000"
         }
     },
-    "extensions": [
-        "ms-iot.vscode-ros",
-        "ms-vscode.cpptools",
-        "ms-python.python",
-        "ms-vscode.cmake-tools",
-        "ms-vscode.cpptools-extension-pack"
-    ],
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-iot.vscode-ros",
+                "ms-vscode.cpptools",
+                "ms-python.python",
+                "ms-vscode.cmake-tools",
+                "ms-vscode.cpptools-extension-pack"
+            ],
+        }
+    },
     "containerUser": "root",
     "remoteUser": "microstrain",
     "runArgs": [
@@ -27,7 +31,6 @@
     "remoteEnv": {
         "DISPLAY": "${localEnv:DISPLAY}"
     },
-    "settings": {},
     "postCreateCommand": "sudo apt-get update && rosdep install --from-paths ~/catkin_ws/src --ignore-src -r -y",
     "mounts": [
         "source=/dev,target=/dev,type=bind,consistency=cached",

README.md

@@ -1,6 +1,6 @@
 ## Description
 
-Interface (driver) software, including ROS node, for the [MicroStrain](https://microstrain.com) line of inertial sensors from [Parker](http://parker.com), developed in Williston, VT.
+Interface (driver) software, including ROS node, for inertial sensors from [MicroStrain by HBK](https://microstrain.com), developed in Williston, VT.
 
 Implemented using the MicroStrain Inertial Protocol SDK ([`mip_sdk`](https://github.com/LORD-MicroStrain/mip_sdk))
 
@@ -11,8 +11,8 @@ Implemented using the MicroStrain Inertial Protocol SDK ([`mip_sdk`](https://git
 * [Packages](#packages)
 * [Install Instructions](#install-instructions)
     * [Buildfarm](#buildfarm)
-    * [Docker](#docker)
     * [Source](#source)
+    * [Udev Rules](#udev-rules)
 * [Building From Source](#building-from-source)
 * [Run Instructions](#run-instructions)
     * [Single Device](#launch-the-node-and-publish-data)
@@ -45,7 +45,7 @@ This repo contains the following packages:
 
 ### Buildfarm
 
-As of `v2.0.5` this package is being built and distributed by the ROS build farm. 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 `melodic` or `noetic`:
+As of `v2.0.5` this package is being built and distributed by the ROS build farm. 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`:
 
 Driver:
 ```bash
@@ -60,13 +60,6 @@ sudo apt-get update && sudo apt-get install ros-ROS_DISTRO-microstrain-inertial-
 For more information on the ROS distros and platforms we support, please see [index.ros.org](https://index.ros.org/r/microstrain_inertial/github-LORD-MicroStrain-microstrain_inertial/#noetic)
 
 
-### Docker
-
-As of `v2.2.2` the `microstrain_inertial_driver` is distributed as a docker image. More information on how to use the image can be found on [DockerHub](https://hub.docker.com/r/microstrain/ros-microstrain_inertial_driver).
-
-If you are interested in working on the node in a docker container, see the [Docker Development](#docker-development) section.
-
-
 ### 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](#building-from-source) guide below.
@@ -102,6 +95,21 @@ time you pull changes you should pull with the `--recurse-submodules` flag, or a
     ```
    The source command will need to be run in each terminal prior to launching a ROS node.
 
+## Udev Rules
+
+**NOTE**: If installing from the buildfarm, the udev rules will be installed automatically
+
+This driver comes with [udev rules](https://wiki.debian.org/udev) that will create a symlink for all microstrain devices.
+To install the rules. Download the [udev](./microstrain_inertial_driver/debian/udev) file from this repo and copy it to
+`/etc/udev/rules.d/100-microstrain.rules`
+
+Once the udev rules are installed, the devices will appear as follows in the file system, where {serial} is the serial number of the device:
+
+* `/dev/microstrain_main` - Most recent non-GQ7 device, or the main port of a GQ7 connected. **NOTE**: Do not use this rule with multiple devices as it gets overridden with multiple devices.
+* `/dev/microstrain_aux` - Most recent GQ7 aux port connected. **NOTE**: Do not use this rule with multiple devices as it gets overridden with multiple devices.
+* `/dev/microstrain_main_{serial}` - All non-GQ7 devices, and the main port of GQ7 devices
+* `/dev/microstrain_aux_{serial}` - The aux port of GQ7 devices
+
 ## Run Instructions
 
 #### Launch the node and publish data
@@ -187,6 +195,7 @@ Both the `ros` and `ros2` branches share most of their code by using git submodu
 
 Previous versions of the driver were released as [tags](https://github.com/LORD-MicroStrain/microstrain_inertial/tags) on Github. They can also be found in specific branches:
 
+* [`ros-3.x.x`](https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros-3.x.x) contains the most recent code before the standardizing refactor
 * [`ros-2.x.x`](https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros-2.x.x) contains the most recent code before the MIP SDK refactor
 * [`master`](https://github.com/LORD-MicroStrain/microstrain_inertial/tree/master) contains the most recent code before the common codebase refactor (prior to `2.0.0`)
 
@@ -201,4 +210,4 @@ Here is a quick overview of the licenses used in each package:
 | [microstrain_inertial_driver](./microstrain_inertial_driver/LICENSE)     | MIT     |
 | [microstrain_inertial_msgs](./microstrain_inertial_msgs/LICENSE)         | MIT     |
 | [microstrain_inertial_rqt](./microstrain_inertial_rqt/LICENSE)           | BSD     |
-| [microstrain_inertial_examples](./microstrain_inertial_examples/LICENSE) | MIT     |
+| [microstrain_inertial_examples](./microstrain_inertial_examples/LICENSE) | MIT     |

microstrain_inertial_driver/CMakeLists.txt

@@ -5,6 +5,9 @@ project(microstrain_inertial_driver)
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# Export compile commands by default (helpful for clang-tidy and autocomplete for certain IDEs)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE BOOL "" FORCE)
+
 # Force some options for this module and the MIP SDK
 set(BUILD_SHARED_LIBS_TEMP "${BUILD_SHARED_LIBS}")
 set(BUILD_EXAMPLES_TEMP "${BUILD_EXAMPLES}")
@@ -67,6 +70,9 @@ else()
   endif()
 endif()
 
+# Set some general CMake flags
+set(CMAKE_C_FLAGS "-Wno-implicit-function-declaration -Wno-incompatible-pointer-types -Wno-unused-variable -Wno-format -fno-builtin-memcpy")
+
 # Include the MIP SDK source
 add_subdirectory("${MIP_SDK_DIR}" EXCLUDE_FROM_ALL)
 include_directories("${MIP_SDK_SRC_DIR}")
@@ -80,18 +86,25 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   nav_msgs
   nmea_msgs
-  mavros_msgs
+  rtcm_msgs
   roscpp
   sensor_msgs
   std_msgs
   std_srvs
   tf2
   tf2_ros
   tf2_geometry_msgs
-  diagnostic_updater
   microstrain_inertial_msgs
 )
 
+# Find some less ROS-y packages
+list(APPEND CMAKE_MODULE_PATH "/usr/share/cmake/geographiclib/")
+find_package(Eigen3 REQUIRED)
+find_package(GeographicLib REQUIRED)
+
+# We want to use the static library for libgeographic, but it doesn't seem to find it for us, so substitute it here
+string(REGEX REPLACE "[.]so[^\\/\\s]*$" ".a" GeographicLib_LIBRARIES ${GeographicLib_LIBRARIES})
+
 ###################################
 ## catkin specific configuration ##
 ###################################
@@ -116,7 +129,7 @@ catkin_package(
     sensor_msgs
     nav_msgs
     nmea_msgs
-    mavros_msgs
+    rtcm_msgs
     message_runtime
     microstrain_inertial_msgs
 )
@@ -125,18 +138,21 @@ catkin_package(
 ###########
 
 # Add the catkin includes
-include_directories(${catkin_INCLUDE_DIRS} include ${COMMON_DIR}/include)
-
-# Set some general CMake flags
-add_definitions(-std=c++11)
-set(CMAKE_C_FLAGS "-Wno-implicit-function-declaration -Wno-incompatible-pointer-types -Wno-format -fno-builtin-memcpy")
+include_directories(
+  include
+  ${COMMON_DIR}/include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+  ${GeographicLib_INCLUDE_DIRS}
+)
 
 set(LIB_SRC_FILES
   ${COMMON_SRC_DIR}/subscribers.cpp
   ${COMMON_SRC_DIR}/publishers.cpp
   ${COMMON_SRC_DIR}/node_common.cpp
   ${COMMON_SRC_DIR}/services.cpp
   ${COMMON_SRC_DIR}/config.cpp
+  ${COMMON_SRC_DIR}/utils/clock_bias_monitor.cpp
 
   ${COMMON_SRC_DIR}/utils/mappings/mip_mapping.cpp
   ${COMMON_SRC_DIR}/utils/mappings/mip_publisher_mapping.cpp
@@ -155,6 +171,7 @@ set(LIB_INC_FILES
   ${COMMON_INC_DIR}/services.h
   ${COMMON_INC_DIR}/config.h
   ${COMMON_INC_DIR}/utils/ros_compat.h
+  ${COMMON_INC_DIR}/utils/clock_bias_monitor.h
 
   ${COMMON_INC_DIR}/utils/mappings/mip_mapping.h
   ${COMMON_INC_DIR}/utils/mappings/mip_publisher_mapping.h
@@ -173,20 +190,12 @@ add_dependencies(${PROJECT_NAME}
   ${catkin_EXPORTED_TARGETS}
 )
 
-add_library(microstrain_diagnostic_updater src/microstrain_diagnostic_updater.cpp)
-add_dependencies(microstrain_diagnostic_updater
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-)
-
 # Executables
 set(NODE_SRC_FILES
   src/microstrain_inertial_driver_node.cpp
-  src/microstrain_diagnostic_updater.cpp
 )
 set(NODE_INC_FILES
   include/${PROJECT_NAME}/microstrain_inertial_driver.h
-  include/${PROJECT_NAME}/microstrain_diagnostic_updater.h
 )
 add_executable(${PROJECT_NAME}_node ${NODE_SRC_FILES} ${NODE_INC_FILES})
 
@@ -215,6 +224,7 @@ target_link_libraries(${PROJECT_NAME}
 target_link_libraries(${PROJECT_NAME}_node
   ${PROJECT_NAME}
   ${catkin_LIBRARIES}
+  ${GeographicLib_LIBRARIES}
 )
 
 #############
@@ -228,7 +238,7 @@ install(TARGETS ${PROJECT_NAME}_node
   PUBLIC_HEADER DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
-install(DIRECTORY launch config
+install(DIRECTORY launch config urdf meshes
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 

microstrain_inertial_driver/debian/udev

@@ -4,9 +4,9 @@
 
 # Convenience rule that will register a single device to /dev/microstrain_main, /dev/microstrain_aux, or /dev/microstrain_rtk.
 # This link will get continuously overridden if you have multiple devices, in which case you should use the symlinks below that will symlink by serial number
-SUBSYSTEM=="tty", ATTRS{idVendor}=="199b", ATTRS{idProduct}=="3065", PROGRAM="/bin/sh -c 'echo %s{serial} | sed s/^0000__.*/rtk/g | sed s/^0000.*/main/g | sed s/^2-00.*/aux/g'", SYMLINK+="microstrain_%c", MODE="0666"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", PROGRAM="/bin/sh -c 'echo %s{serial} | sed s/^0000__.*/rtk/g | sed s/^0000.*/main/g | sed s/^2-00.*/aux/g'", SYMLINK+="microstrain_%c", MODE="0666"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="199b", ATTRS{idProduct}=="3065", ATTRS{manufacturer}=="Lord Microstrain", PROGRAM="/bin/sh -c 'echo %s{serial} | sed s/^0000.*/main/g | sed s/^2-00.*/aux/g | sed -e s/[[:space:]]/_/g | tr -s _'", SYMLINK+="microstrain_%c", MODE="0666"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", ATTRS{manufacturer}=="Lord Microstrain", PROGRAM="/bin/sh -c 'echo %s{serial} | sed s/^0000.*/main/g | sed s/^2-00.*/aux/g | sed -e s/[[:space:]]/_/g | tr -s _'", SYMLINK+="microstrain_%c", MODE="0666"
 
 # Rule to create links for multiple different devices
-SUBSYSTEM=="tty", ATTRS{idVendor}=="199b", ATTRS{idProduct}=="3065", PROGRAM="/bin/sh -c 'echo %s{serial} | sed s/^0000__/rtk/g | sed s/^0000/main/g | sed s/^2-00/aux/g'", SYMLINK+="microstrain_%c", MODE="0666"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", PROGRAM="/bin/sh -c 'echo %s{serial} | sed s/^0000__/rtk/g | sed s/^0000/main/g | sed s/^2-00/aux/g'", SYMLINK+="microstrain_%c", MODE="0666"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="199b", ATTRS{idProduct}=="3065", ATTRS{manufacturer}=="Lord Microstrain", PROGRAM="/bin/sh -c 'echo %s{serial} | sed s/^0000/main/g | sed s/^2-00/aux/g | sed -e s/[[:space:]]/_/g | tr -s _'", SYMLINK+="microstrain_%c", MODE="0666"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", ATTRS{manufacturer}=="Lord Microstrain", PROGRAM="/bin/sh -c 'echo %s{serial} | sed s/^0000/main/g | sed s/^2-00/aux/g | sed -e s/[[:space:]]/_/g | tr -s _'", SYMLINK+="microstrain_%c", MODE="0666"

microstrain_inertial_driver/package.xml

@@ -24,14 +24,14 @@
   <depend>sensor_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>nmea_msgs</depend>
-  <depend>mavros_msgs</depend>
+  <depend>rtcm_msgs</depend>
   <depend>tf2_geometry_msgs</depend>
 
   <depend>microstrain_inertial_msgs</depend>
 
-  <!-- Dependencies needed to install MSCL from the CMake file  -->
-  <build_depend>jq</build_depend>
-  <build_depend>curl</build_depend>
+  <!-- Static or header only library deps -->
+  <build_depend>eigen</build_depend>
+  <build_depend>geographiclib</build_depend>
 
   <build_depend>message_generation</build_depend>
   <build_depend>roslint</build_depend>