ubuntu18.04 LORD 3DM-GX5-AHRS + ros驱动安装

如果不需要修改源代码，建议通过apt命令直接安装

 sudo apt install ros-melodic-microstrain-inertial-driver
 roslaunch microstrain_inertial_driver microstrain.launch

二进制安装的lord驱动默认启动launch的接口是/dev/ttyACM0/ ，如果接入设备查看接口是ttyUSB0,需要到config下修改params.yml

gedit  /opt/ros/melodic/share/microstrain_inertial_driver/microstrain_inertial_driver_common/config/params.yml

有时安装ros-melodic软件包定位不到资源
E: Invalid operation ros-melodic-microstrain-inertial-driver
无法定位软件包，一般是如果是源问题，可以通过修改源解决：

sudo gedit /etc/apt/sources.list.d/ros-latest.list

添加

deb https://mirrors.ustc.edu.cn/ros/ubuntu/ bionic main

然后执行：

sudo apt-get update

这样就可以正常安装软件包了

sudo apt install ros-melodic-microstrain-inertial-driver

源码安装lord驱动
安装3DM-GX5-AHRS的相关驱动，点击进入选择Debian分类下的x64分类下的c++类别，点击该按钮后自动下载。下载结束后安装.deb文件。

sudo dpkg -i c++-mscl_64.4iUYGdXc.3.0_amd64.deb     
sudo apt install -f  

安装ros_mscl

上一步装好之后就可以下载 ros_mscl

git clone https://github.com/LORD-MicroStrain/ROS-MSCL.git
catkin_make

出现如下提示，则证明第一步没有装好，需要重新执行驱动安装

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
MSCL_LIB_PATH
    linked by target "microstrain_inertial_driver" in directory /home/bitcq/catkin_ws/src/ROS-MSCL/microstrain_inertial_driver

出现如下提示，则需要安装驱动

Could not find a package configuration file provided by "nmea_msgs" with
  any of the following names:

    nmea_msgsConfig.cmake
    nmea_msgs-config.cmake

sudo apt install  ros-melodic-nmea-msgs 

ROS-MSCL 已经完全安装完毕运行测试

roslaunch ros_mscl microstrain.launch

可能会出现如下错误

[ INFO] [1612844805.986990924]: Attempting to open serial port </dev/ttyACM0> at <115200> 
[ERROR] [1612844805.987572968]: Device Disconnected
[gx5/ros_mscl_node-2] process has finished cleanly

出现该错误的原因是没有给端口授予权限