Modular INS

ROS 2 interface example for an externally aided tactical grade INS with Dual-Antenna GNSS receiver and RTK corrections via a one-shot launch file.

Bill of Materials

Hardware

INS:

• MicroStrain CV7-INS
• Black c-series dev board

GNSS:

• Septentrio Mosaic GNSS Receiver - either:
  • Mosaic Go heading eval kit (Mosaic H receiver)
  • Mosaic Go X5 eval kit (Mosaic X5 receiver)
• SMA - SMA GNSS connector cable
• 2x L1/L2 or Full Band GNSS Antennas
• SensorCloudRTK API

Compute:

• Linux machine running Ubuntu 22.04 or later

Software:

• microstrain_inertial
• septentrio_gnss_driver
• ntrip_client

Install Instructions

Building from Source

1. Install ROS2 and create a workspace: Configuring Your ROS2 Environment
2. Clone the repository into your workspace:

git clone https://github.com/ianjmoore/modular_ins.git ~/your_workspace/src/modular_ins

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

cd ~/your_workspace
colcon build
source ~/your_workspace/install/setup.bash

Tip

The source command will need to be run in each terminal prior to launching a ROS node.

Run Instructions

Launch files

Two launch files are provided for recommended use for specific applications:

1. Dual Antenna Heading (GPS compass) with Mosaic H to CV7-INS
   1. Recommended for hovering UAS that require static heading, vehicles with low dynamics, or strong magnetic interference
      1. Ex: VTOL / Quadcopter UAS, Differential drive wheeled vehicles, QUGV, USV, low jamming & spoofing environments

ros2 launch modular_ins mosaic_h_cv7_ins_ext_heading.py

2. Full Band GNSS with Mosaic X5 + CV7-INS Magnetometer Heading
   1. Recommended for highest interference / GNSS contested environments (jamming, spoofing), fixed-wing UAS that do not hover, Ackerman steering geometry vehicles, low magnetic interference
      1. Ex: Fixed-wing UAS, vehicle in known GNSS contested environment, high-multipath lawn mower, few moving ferro-magnetic moving parts near INS
      
      NOTE: Dual Antenna Heading not supported on Mosaic X5

ros2 launch modular_ins mosaic_x5_cv7_ins_mag_heading.py

Docker Development

VSCode

The easiest way to develop in docker while still using an IDE is to use VSCode. Follow the steps below to develop on this repo in a docker container.

1. Install the following dependencies:
   1. VSCode
   2. Docker
2. Open VSCode and install the following plugins:
   1. VSCode Remote Containers plugin
3. Open /workspace_dir/src/modular_ins/ directory in VSCode
4. A prompt should appear, and click "Reopen in devcontainer"
   1. If not, follow Docker Troubleshooting below
5. Once the project is open in the container, it will take some time to automatically install the rosdeps inside the container
6. Build your workspace:

# cd ~/your_workspace #TODO: Check if recommended
colcon build
source install/setup.bash

Tip

The source command will need to be run in each terminal prior to launching a ROS node.

7. Proceed to Run Instructions

Docker Troubleshooting

1. Click the blue >< icon in the bottom left corner of the window
   1. Choose Reopen In Container
2. If that does not work or if VS Code keeps prompting you to open a devcontainer:
3. Close VSCode
4. In terminal, navigate to /your_workspace_dir/src/modular_ins/
5. Run code .
6. [If prompted] select modular_ins/.devcontainer/devcontainer.json as container settings file
7. You should be prompted to "Reopen in devcontainer"
8. If still having troubles, open a ticket on the MicroStrain Support Portal or write to MicroStrainSupport@HBKWorld.com