Added microstrain

clearpathrobotics · Apr 26, 2023 · 94ba9dd · 94ba9dd
1 parent 82afb12
commit 94ba9dd
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Showing 5 changed files with 560 additions and 5 deletions.
diff --git a/clearpath_launch_generator/clearpath_launch_generator/sensors.py b/clearpath_launch_generator/clearpath_launch_generator/sensors.py
@@ -33,6 +33,7 @@
 from clearpath_config.sensors.base import BaseSensor
 from clearpath_config.sensors.lidars_2d import HokuyoUST10, SickLMS1XX
 from clearpath_config.sensors.cameras import IntelRealsense
+from clearpath_config.sensors.imu import Microstrain
 from clearpath_config.parser import ClearpathConfigParser
 
 from clearpath_launch_generator.launch_writer import LaunchFile, Package, ParameterFile
@@ -149,6 +150,11 @@ def __init__(self, sensor: IntelRealsense, output_path: str = '/etc/clearpath/se
             super().__init__(sensor, output_path)
             self.generate_config()
 
+    class MicrostrainIMULaunch(BaseLaunch):
+        def __init__(self, sensor: Microstrain, output_path: str = '/etc/clearpath/sensors/') -> None:
+            super().__init__(sensor, output_path)
+            self.generate_config()
+
     class VelodyneLidarLaunch(BaseLaunch):
         def __init__(self, sensor: BaseSensor, output_path: str = '/etc/clearpath/sensors/') -> None:
             super().__init__(sensor, output_path)
@@ -185,7 +191,8 @@ def generate_config(self):
     MODEL = {
         HokuyoUST10.SENSOR_MODEL: HokuyoUST10Launch,
         SickLMS1XX.SENSOR_MODEL: SickLMS1XXLaunch,
-        IntelRealsense.SENSOR_MODEL: IntelRealsenseLaunch
+        IntelRealsense.SENSOR_MODEL: IntelRealsenseLaunch,
+        Microstrain.SENSOR_MODEL: MicrostrainIMULaunch
     }
 
     def __new__(cls, sensor: BaseSensor, output_path: str = '/etc/clearpath/sensors/') -> BaseLaunch: