gx5_25.launch

<?xml version="1.1"?>

<!-- Standalone example launch file to launch a node that interfaces with a GX5-25 -->
<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/gx5_25/gx5_25.yml" />
  </include>

  <!-- In this example we have no way to publish an actual map transform, so just publish a static one so we can display data on rviz -->
  <!-- If integrating into an existing system, this should be replaced with a navigation solution -->
  <node 
    pkg="tf"
    type="static_transform_publisher"
    name="map_base_link_static_transform"
    output="screen"
    args="
      0 0 100 0 0 0 map base_link 1000
    " />

  <!-- Publish a static transform for where the GX5-25 is mounted on base_link. -->
  <!-- Unless the GX5-25 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_gx5_25_link_static_transform"
    output="screen"
    args="
      0 0 0 0 0 0 base_link gx5_25_link 1000
    " />

  <!-- Start RViz -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find microstrain_inertial_examples)/config/gx5_25/display.rviz" />
</launch>