Adds GQ7 as possible sensor

clearpath_config/sample/j100/j100_microstrain_gq7.yaml

@@ -0,0 +1,49 @@
+serial_number: j100-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-j100-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: j100_0000
+platform:
+  attachments:
+    - name: front_fender
+      type: j100.fender
+    - name: rear_fender
+      type: j100.fender
+      rpy: [0.0, 0.0, 3.1415]
+links:
+  box:
+    - name: antenna_bar
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0175]
+      rpy: [0.0, 0.0, 0.0]
+      size: [0.075, 1.0, 0.035]
+  cylinder:
+    - name: left_antenna
+      parent: antenna_bar_link
+      xyz: [0.0, 0.475, 0.0225]
+      rpy: [0.0, 0.0, 0.0]
+      radius: 0.02
+      length: 0.01
+    - name: right_antenna
+      parent: antenna_bar_link
+      xyz: [0.0, -0.475, 0.0225]
+      rpy: [0.0, 0.0, 0.0]
+      radius: 0.02
+      length: 0.01
+sensors:
+  gps:
+  - model: microstrain_gq7
+    urdf_enabled: true
+    launch_enabled: true
+    parent: rear_0_mount
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    ros_parameters:
+      microstrain_inertial_driver:
+        port: "/dev/microstrain_main"
+        baudrate: 115200
+        gnss1_frame_id: "left_antenna_link"
+        gnss2_frame_id: "right_antenna_link"

clearpath_config/sensors/sensors.py

@@ -40,6 +40,7 @@
 from clearpath_config.sensors.types.gps import (
     BaseGPS,
     SwiftNavDuro,
+    MicrostrainGQ7,
     Garmin18x,
     NovatelSmart6,
     NovatelSmart7,
@@ -114,12 +115,14 @@ def __new__(cls, model: str) -> BaseCamera:
 
 class GlobalPositioningSystem():
     SWIFTNAV_DURO = SwiftNavDuro.SENSOR_MODEL
+    MICROSTRAIN_GQ7 = MicrostrainGQ7.SENSOR_MODEL
     GARMIN_18X = Garmin18x.SENSOR_MODEL
     NOVATEL_SMART6 = NovatelSmart6.SENSOR_MODEL
     NOVATEL_SMART7 = NovatelSmart7.SENSOR_MODEL
 
     MODEL = {
         SWIFTNAV_DURO: SwiftNavDuro,
+        MICROSTRAIN_GQ7: MicrostrainGQ7,
         GARMIN_18X: Garmin18x,
         NOVATEL_SMART6: NovatelSmart6,
         NOVATEL_SMART7: NovatelSmart7,

clearpath_config/sensors/types/gps.py

@@ -123,6 +123,9 @@ def get_frame_id(self) -> str:
     def set_frame_id(self, link: str) -> None:
         self.frame_id = link
 
+    def has_imu(self) -> bool:
+        return False
+
 
 class SwiftNavDuro(BaseGPS):
     SENSOR_MODEL = "swiftnav_duro"
@@ -217,6 +220,87 @@ def set_port(self, port: int) -> None:
         self.port = port
 
 
+class MicrostrainGQ7(BaseGPS):
+    SENSOR_MODEL = "microstrain_gq7"
+
+    FRAME_ID = "link"
+    PORT = "/dev/microstrain_main"
+    BAUD = 115200
+
+    class ROS_PARAMETER_KEYS:
+        FRAME_ID = "microstrain_inertial_driver.frame_id"
+        PORT = "microstrain_inertial_driver.port"
+        BAUD = "microstrain_inertial_driver.baudrate"
+
+    class TOPICS:
+        FIX = "fix"
+        NAME = {
+            FIX: "fix",
+        }
+        RATE = {
+            FIX: 60,
+        }
+
+    def __init__(
+            self,
+            idx: int = None,
+            name: str = None,
+            topic: str = BaseGPS.TOPIC,
+            frame_id: str = FRAME_ID,
+            port: str = PORT,
+            baud: int = BAUD,
+            urdf_enabled: bool = BaseSensor.URDF_ENABLED,
+            launch_enabled: bool = BaseSensor.LAUNCH_ENABLED,
+            ros_parameters: str = BaseSensor.ROS_PARAMETERS,
+            parent: str = Accessory.PARENT,
+            xyz: List[float] = Accessory.XYZ,
+            rpy: List[float] = Accessory.RPY
+            ) -> None:
+        # Port
+        self.port = port
+        # Baud
+        self.baud = baud
+        # ROS Paramater Template
+        ros_parameters_template = {
+            self.ROS_PARAMETER_KEYS.PORT: MicrostrainGQ7.port,
+            self.ROS_PARAMETER_KEYS.BAUD: MicrostrainGQ7.baud
+        }
+        super().__init__(
+            idx,
+            name,
+            topic,
+            frame_id,
+            urdf_enabled,
+            launch_enabled,
+            ros_parameters,
+            ros_parameters_template,
+            parent,
+            xyz,
+            rpy
+        )
+
+    @property
+    def port(self) -> str:
+        return str(self._port)
+
+    @port.setter
+    def port(self, file: str) -> str:
+        self._port = File(str(file))
+
+    @property
+    def baud(self) -> int:
+        return self._baud
+
+    @baud.setter
+    def baud(self, baud: int) -> None:
+        assert isinstance(baud, int), ("Baud must be of type 'int'.")
+        assert baud >= 0, ("Baud must be positive integer.")
+        self._baud = baud
+
+    def has_imu(self) -> bool:
+        return True
+
+
 class NMEA(BaseGPS):
     SENSOR_MODEL = "nmea_gps"
 

clearpath_config/tests/test_samples.py

@@ -39,6 +39,7 @@
 J100_DEFAULT = sample + "/j100/j100_default.yaml"
 J100_DUAL_LASER = sample + "/j100/j100_dual_laser.yaml"
 J100_VELODYNE = sample + "/j100/j100_velodyne.yaml"
+J100_MICROSTRAIN_GQ7 = sample + "/j100/j100_microstrain_gq7.yaml"
 
 A200_SAMPLES = [
     A200_DEFAULT,
@@ -49,7 +50,8 @@
 J100_SAMPLES = [
     J100_DEFAULT,
     J100_DUAL_LASER,
-    J100_VELODYNE
+    J100_VELODYNE,
+    J100_MICROSTRAIN_GQ7
 ]