MRU MSCL

This component reads data from Microstrain MRUs using the MSCL API. It supports several Microstrain MRU types and is tested with:

• Microstrain 3DM GX3-15
• Microstrain 3DM GX3-45

The current implementation only supports reading the sensor data via a serial-to-ethernet device acting like a tcp/ip server, but it is prepared for udp and direct serial port connections. Also, the measurements to perform is currently hardcoded. An input file is used for configuration, with the following options:

• Options:
  • PeriodMs: The update period in milliseconds.
• TcpServer:
  • Address: The ip address of the serial-to-ethernet device relaying the mru measurements.
  • Port: The port of the serial-to-ethernet device.
• DdsSetup:
  • Partition: The DDS partition to which the mru measurements are to be published. Default is ''.

An example input file is shown below, as well as here.

Options:
    PeriodMs: 100
TcpServer:
    Address: 10.0.0.7
    Port: 7001
DdsSetup:
  Partition: mru