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LORD-MicroStrain / microstrain_inertial

ROS driver for all of MicroStrain's current G and C series products. To learn more visit
https://www.microstrain.com/inertial
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GPIO Pin Functionality #358

Open smash0190 opened 1 month ago

smash0190 commented 1 month ago

Is your feature request related to a problem? Please describe. The GQ7 supports 4 GPIO pins (pps + regular GPIO pin usage) however currently they are not exposed in the ROS2 driver. They can only be configured during launch but then not changed anymor (as far as I could find).

Describe the solution you'd like It would be awesome if there was either a message or service call that would expose both inputs and outputs for the pins set as GPIO input or output pins. This would simplify some use cases where having GPIO pins would require extra hardware or complex driver setup.

Describe alternatives you've considered GPIO pin reading and setting could either be exposed as a message or service call that gets polled. Either approach is fine but there would probably be a slight preference towards messages.

This is related to this MIP command: https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/0x0c/data/0x42.htm?Highlight=gpio

robbiefish commented 3 weeks ago

Hi @smash0190, the GPIO state command has been added in 4.5.0, see the services section of the wiki for more information

github-actions[bot] commented 5 days ago

This issue is stale because it has been open for 2 weeks with no activity. If the issue is still not resolved, please leave a comment describing what is still not working