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== Overview ==

Easy to use launch files that allow users to localize using a [[https://www.microstrain.com|MicroStrain]] inertial sensor and the [[https://wiki.ros.org/microstrain_inertial_driver|microstrain_inertial_driver]]

== Usage ==

This package provides easy to use launch files for the following use cases

'''NOTE''': In each use case, we provide a simple way to run your own `robot_localization` and/or `robot_description` nodes to get started, but ultimately most users in this use case should configure and launch their own instance of these nodes.

'''NOTE''': The frames outlined below are documented in [[https://www.ros.org/reps/rep-0105.html|REP 105]].

=== odom ===

This use case allows users to run the `microstrain_inertial_driver` alongside other localization nodes such as `robot_localization`.

The transform tree will look something like this for this use case:

{{attachment:odom.png|odom use case frame visualization|width=700,height=150}}

==== Usage and Configuration ====

Please see the following pages for device specific configuration for this use case:
 * [[https://wiki.ros.org/microstrain_inertial_localization/gq7_odom|GQ7]]

=== map ===

This use case is useful for users who want to localize using only the `microstrain_inertial_driver`, but still want to operate in a local tangent plane.

The transform tree will look something like this for this use case:

{{attachment:map.png|map use case frame visualization|width=550,height=150}}

==== Usage and Configuration ====

Please see the following pages for device specific configuration for this use case:
 * [[https://wiki.ros.org/microstrain_inertial_localization/gq7_map|GQ7]]

=== earth ===

This use case is useful for users who want to localize using only the `microstrain_inertial_driver`, and do not care about a local tangent plane.

The transform tree will look something like this for this use case:

{{attachment:earth.png|earth use case frame visualizataion|width=400,height=150}}

==== Usage and Configuration ====

Please see the following pages for device specific configuration for this use case:
 * [[https://wiki.ros.org/microstrain_inertial_localization/gq7_earth|GQ7]]

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