Version: ROS 2 Humble

MicroStrain 3DM-GX5

Item Numbers

Description	CPR Item	Sales Kit	Installation Kit, With Fasteners
Microstrain 3DM-GX5-10 sensor	017839	028963	028962
Microstrain 3DM-GX5-15 sensor	017772	027114	027215
Microstrain 3DM-GX5-25 sensor	014603	027117	027217
Microstrain 3DM-GX5-35 sensor	028528	028964	028957
Microstrain 3DM-GX5-45 sensor	017391	028966	028965

Specifications

Description	Value
Mass	16.5 - 20 g
Voltage, Minimum	4 V, or USB
Voltage, Maximum	36 V, or USB
Power, Maximum	0.3 - 0.8 W
Data	USB 2.0 or RS-232
Ingress Protection, Solids	3
Ingress Protection, Liquids	0
Operating Temperature, Min	-40 °C
Operating Temperature, Max	85 °C

Software Bringup

This sensor is included in the Clearpath Robotics robot package that is installed on all of our robots. This allows you to add or remove the sensor from your robot's software description by modifying the robot configuration yaml.

imu:
  - model: microstrain_imu
    urdf_enabled: true
    launch_enabled: true
    parent: base_link
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      microstrain_inertial_driver:
        imu_frame_id: imu_0_link
        port: /dev/microstrain_main
        use_enu_frame: true

Package and Setup

The MicroStrain GX devices use the microstain_inertial ROS 2 package. The driver is open source, maintained by MicroStrain, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system launches the microstrain_inertial driver, see the MicroStrain GX launch file and the default parameter file in clearpath_sensors.

Device Path

The port ROS parameter must be set to the device path of the MicroStrain device. The microstrain_inertial package installs its UDEV rule, which will add the /dev/microstrain_main device.

Troubleshooting

Clearpath is committed to your success. Please get in touch with us and we will do our best to get you rolling again quickly: support@clearpathrobotics.com.

To get in touch with a salesperson regarding Clearpath Robotics products, please email research-sales@clearpathrobotics.com.

If you have an issue that is specifically about ROS and is something which may be of interest to the broader community, consider asking it on https://robotics.stackexchange.com. If you do not get a satisfactory response, please ping us and include a link to your question as posted there. If appropriate, we will answer in the ROS Answers context for the benefit of the community.

Item Numbers​

Specifications​

Software Bringup​

Package and Setup​

Device Path​

Troubleshooting​

Further Reading​