ROS Adds example of providing NMEA over CV7-INS aux port (#351)

* Adds ROS CV7-INS NMEA aux port example

* Adds example files to README

microstrain_inertial_examples/README.md

@@ -12,6 +12,8 @@ Collection of simple examples to get started using the `microstrain_inertial_dri
     * [GX5-GNSS / CX5-GNSS](#gx5-gnss--cx5-gnss)
     * [GX5-AHRS / CX5-AHRS](#gx5-ahrs--cx5-ahrs)
     * [GX5-AR / CX5-AR](#gx5-ar--cx5-ar)
+* [Other Examples](#other-examples)
+    * [CV7-INS / GV7-INS with NMEA over aux](#cv7-ins--gv7-ins-with-nmea-over-aux-port)
 
 ## Common Steps
 
@@ -155,4 +157,31 @@ This example contains the following files:
 
 * [`launch/gx5_15.launch`](./launch/gx5_15.launch)
 * [`config/gx5_15/gx5_15.yml`](./config/gx5_15/gx5_15.yml)
-* [`config/gx5_15/display.rviz`](./config/gx5_15/display.rviz)
+* [`config/gx5_15/display.rviz`](./config/gx5_15/display.rviz)
+
+## Other Examples
+
+Other assorted examples users may find useful
+
+### CV7-INS / GV7-INS with NMEA over aux port
+
+**NOTE**: This example works for the [3DM-CV7-INS](https://www.microstrain.com/inertial-sensors/3DM-CV7-INS), and
+[3DM-GV7-INS](https://www.microstrain.com/inertial-sensors/3DM-GV7-INS) and requires an external GNSS receiver such as the
+[SparkFun ZED-F9P](https://www.sparkfun.com/products/16481?gad_source=1&gclid=CjwKCAjwps-zBhAiEiwALwsVYTSItzsET_3hKDL1FDr5R1byfLifyTtszQVOrpOVjDAC2XtMhd6FwxoCXjEQAvD_BwE)
+
+This example is similar to the [CV7-INS / GV7-INS](#cv7-ins--gv7-ins), but instead of getting the data over the ROS network,
+the data will be provided by GPIO pins setup as an "aux" port on the device. This example follows the wiring setup provided in
+the [NMEA Input](https://mip-documentation-test.s3.ca-central-1.amazonaws.com/CV7-INS+Online/user_manual_content/additional_features/NMEA%20Input.htm)
+page on the MicroStrain manual.
+
+To run this example, run the following command after doing the [common steps](#common-steps):
+
+```bash
+roslaunch microstrain_inertial_examples cv7_ins_nmea_aux.launch
+```
+
+This example contains the following files:
+
+* [`launch/cv7_ins_nmea_aux.launch`](./launch/cv7_ins_nmea_aux.launch)
+* [`config/cv7_ins_nmea_aux/cv7_ins.yml`](./config/cv7_ins_nmea_aux/cv7_ins.yml)
+* [`config/cv7_ins_nmea_aux/display.rviz`](./config/cv7_ins_nmea_aux/display.rviz)

microstrain_inertial_examples/config/cv7_ins_nmea_aux/cv7_ins.yml

@@ -0,0 +1,61 @@
+# You should change this section of config to match your setup
+port : '/dev/microstrain_main'
+baudrate : 115200
+set_baud : True
+
+# This will cause the node to convert any NED measurements to ENU
+# This will also cause the node to convert any vehicle frame measurements to the ROS definition of a vehicle frame
+use_enu_frame : True
+
+# Configure some frame IDs
+frame_id        : 'cv7_ins_link'  # Frame ID of all of the filter messages. Represents the location of the CV7-INS in the tf tree
+map_frame_id    : "map"           # Frame ID of the local tangent plane.
+earth_frame_id  : "earth"         # Frame ID of the global frame
+target_frame_id : "base_link"     # Frame ID that we will publish a transform to.
+
+# Disable the transform from the mount to frame id transform as it will be handled in the launch file
+publish_mount_to_frame_id_transform : False
+
+# We will use relative transform mode, meaning that we will publish the following transforms from this node
+#   earth_frame_id -> map_frame_id
+#   map_frame_id -> target_frame_id
+# This helps ROS standard tools consume and display position information produced by the device
+tf_mode: 2
+
+# We will use auto relative position configuration for this example. This configuration does a couple things:
+#   We will setup a local tangent plane at the first location we receive after the device enters full navigation mode
+#   We will publish this location as the transform from the earth_frame_id to map_frame_id frame
+filter_relative_position_config : True
+filter_relative_position_source : 2
+
+# Set the antenna offset.
+# Note: This should be changed for you setup, otherwise you will experience poor filter performance
+gnss1_antenna_offset : [0.0, -0.7, -1.0]
+
+# This will set the initial heading alignment to use GNSS Kinematic Alignment
+# Note that if you have any form of external heading, it is probably better to set this to 8 in order to use that
+filter_auto_heading_alignment_selector : 2
+
+# Setup some aiding options.
+filter_enable_gnss_pos_vel_aiding : True
+filter_enable_gnss_heading_aiding : False
+
+# This example uses the PPS from the F9P connected to this device via GPIO
+filter_pps_source : 3
+
+# Change this baudrate to whatever baudrate the F9P is configured to communicate at
+aux_baudrate : 115200
+
+# Configure the GPIO pins
+gpio_config : True
+
+# GPIO 1 (pin 7) will be the pin where we receive NMEA
+gpio1_feature  : 5     # UART feature
+gpio1_behavior : 0x22  # UART Port 2 RX behavior
+
+# GPIO 3 (pin 6) will be the pin where we receive PPS
+gpio3_feature  : 2  # PPS feature
+gpio3_behavior : 1  # Input behavior (PPS is being input to the device)
+
+# Disable the filter declination source. This is required to get the node to start, and isn't doing anything special
+filter_declination_source : 1

microstrain_inertial_examples/config/cv7_ins_nmea_aux/display.rviz

@@ -0,0 +1,222 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 555
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 1
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Queue Size: 10
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /ekf/odometry_map
+      Unreliable: false
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 1
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Queue Size: 10
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /ekf/odometry_earth
+      Unreliable: false
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        cv7_ins_link:
+          Value: true
+        earth:
+          Value: true
+        fake_sensor:
+          Value: true
+        map:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        earth:
+          map:
+            base_link:
+              cv7_ins_link:
+                {}
+              fake_sensor:
+                {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 20.5603084564209
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6753978729248047
+      Target Frame: base_link
+      Yaw: 0.5703979134559631
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030700fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 60
+  Y: 363

microstrain_inertial_examples/launch/cv7_ins_nmea_aux.launch

@@ -0,0 +1,25 @@
+<?xml version="1.1"?>
+
+<!-- Standalone example launch file to launch a node that interfaces with a CV7-INS -->
+<launch>
+
+  <!-- Specify our custom params file to the microstrin launch file -->
+  <include file="$(find microstrain_inertial_driver)/launch/microstrain.launch">
+    <arg name="namespace" value="/" />
+    <arg name="params_file" value="$(find microstrain_inertial_examples)/config/cv7_ins_nmea_aux/cv7_ins.yml" />
+  </include>
+
+  <!-- Publish a static transform for where the CV7-INS is mounted on base_link. -->
+  <!-- Unless the CV7-INS is mounted exactly at base_link, you should change this to be accurate to your setup -->
+  <node 
+    pkg="tf"
+    type="static_transform_publisher"
+    name="base_link_cv7_ins_link_static_transform"
+    output="screen"
+    args="
+      0 0 0 0 0 0 base_link cv7_ins_link 1000
+    " />
+
+  <!-- Start RViz -->
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find microstrain_inertial_examples)/config/cv7_ins_nmea_aux/display.rviz" />
+</launch>