3dm-gx5-35 not working properly with this package

[robintomar1]

I was trying to run 3DM-GX5-35 model with this package. here is the output:

`robin@robin-HP-Pavilion-Laptop-15-cc1xx:~/catkin_ws$ roslaunch microstrain_mips microstrain.launch
... logging to /home/robin/.ros/log/0bfa9dd4-a137-11e9-bb9b-88b111f58561/roslaunch-robin-HP-Pavilion-Laptop-15-cc1xx-3330.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robin-HP-Pavilion-Laptop-15-cc1xx:37259/

SUMMARY

PARAMETERS

• /gx5/microstrain_mips_node/auto_init: True
• /gx5/microstrain_mips_node/baudrate: 115200
• /gx5/microstrain_mips_node/declination: 0.23
• /gx5/microstrain_mips_node/declination_source: 2
• /gx5/microstrain_mips_node/device_setup: True
• /gx5/microstrain_mips_node/dynamics_mode: 1
• /gx5/microstrain_mips_node/gps_frame_id: navsat_link
• /gx5/microstrain_mips_node/gps_rate: 4
• /gx5/microstrain_mips_node/imu_frame_id: gx5_link
• /gx5/microstrain_mips_node/imu_rate: 100
• /gx5/microstrain_mips_node/nav_rate: 10
• /gx5/microstrain_mips_node/odom_child_frame_id: base_link
• /gx5/microstrain_mips_node/odom_frame_id: wgs84_odom_link
• /gx5/microstrain_mips_node/port: /dev/ttyACM0
• /gx5/microstrain_mips_node/publish_imu: True
• /gx5/microstrain_mips_node/readback_settings: True
• /gx5/microstrain_mips_node/save_settings: True
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/expected: ['microstrain_mip...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/imu/expected: ['microstrain_mip...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/imu/path: imu
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/imu/remove_prefix: microstrain_mips_...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/imu/timeout: 5.0
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/imu/type: diagnostic_aggreg...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/packet/expected: ['microstrain_mip...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/packet/path: packet
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/packet/remove_prefix: microstrain_mips_...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/packet/timeout: 5.0
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/packet/type: diagnostic_aggreg...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/path: general
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/port/expected: ['microstrain_mip...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/port/path: port
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/port/remove_prefix: microstrain_mips_...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/port/timeout: 5.0
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/port/type: diagnostic_aggreg...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/remove_prefix: microstrain_mips_...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/timeout: 5.0
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/analyzers/general/type: diagnostic_aggreg...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/path: microstrain_mips_...
• /imu_diagnostic_aggregator/analyzers/microstrain_mips_node/type: diagnostic_aggreg...
• /rosdistro: kinetic
• /rosversion: 1.12.14

NODES
/
imu_diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
/gx5/
microstrain_mips_node (microstrain_mips/microstrain_mips_node)

ROS_MASTER_URI=http://localhost:11311

process[gx5/microstrain_mips_node-1]: started with pid [3347]
process[imu_diagnostic_aggregator-2]: started with pid [3349]
[ INFO] [1562571188.428105078]: Attempting to open serial port </dev/ttyACM0> at <115200>

[ INFO] [1562571188.428397125]: Putting device communications into 'standard mode'
[ INFO] [1562571188.439737170]: Verify comm's mode
[ INFO] [1562571188.444854798]: Sleep for a second...
[ INFO] [1562571188.945138758]: Right mode?
[ INFO] [1562571188.961245167]: Model Name => 3DM-GX5-35

[ INFO] [1562571188.973179103]: Idling Device: Stopping data streams and/or waking from sleep
[ INFO] [1562571189.483377759]: AHRS Base Rate => 500 Hz
[ INFO] [1562571189.983816885]: AHRS decimation set to 0X05
[ INFO] [1562571189.983929953]: Setting the AHRS message format
[ INFO] [1562571190.487762648]: Poll AHRS data to verify
[ INFO] [1562571190.992106251]: Saving AHRS data settings
[ INFO] [1562571191.496271845]: Setting declination source to 0X02
[ INFO] [1562571191.506079526]: mip_filter_declination_source function timed out.
[ INFO] [1562571192.006435318]: Reading back declination source
[ INFO] [1562571192.016310288]: mip_filter_declination_source function timed out.
[ WARN] [1562571192.016334666]: declination_source , readback_declination_source 2 0

[ WARN] [1562571192.016350082]: Failed to set the declination source to 0X02!

[ INFO] [1562571192.516712738]: Saving declination source settings to EEPROM
[ INFO] [1562571192.526613414]: mip_filter_declination_source function timed out.
[ INFO] [1562571193.030899905]: GPS Base Rate => 4 Hz
[ INFO] [1562571193.531253037]: Setting GPS stream format
[ INFO] [1562571194.041254167]: Saving GPS data settings
[ INFO] [1562571194.555347794]: mip_3dm_cmd_get_filter_base_rate function timed out.
[ INFO] [1562571194.555385057]: FILTER Base Rate => 4 Hz
[ INFO] [1562571195.055733825]: Setting Filter stream format
[ INFO] [1562571195.065536175]: mip_3dm_cmd_filter_message_format function timed out.
[ INFO] [1562571195.565879277]: Poll filter data to test stream
[ INFO] [1562571195.575767177]: mip_3dm_cmd_poll_filter function timed out.
[ INFO] [1562571196.076136310]: Saving Filter data settings
[ INFO] [1562571196.085963451]: mip_3dm_cmd_filter_message_format function timed out.
[ INFO] [1562571196.586321804]: Setting dynamics mode to 0X01
[ INFO] [1562571196.596272456]: mip_filter_vehicle_dynamics_mode function timed out.
[ INFO] [1562571197.096681165]: Reading back dynamics mode setting
[ INFO] [1562571197.106389405]: mip_filter_vehicle_dynamics_mode function timed out.

[ERROR] [1562571197.606766148]: Failure: Dynamics mode set to be 0X01, but reads as 0X72

[ INFO] [1562571197.606902088]: Saving dynamics mode settings to EEPROM
[ INFO] [1562571197.616577752]: mip_filter_vehicle_dynamics_mode function timed out.
[ INFO] [1562571198.116980833]: Set heading source to internal mag.
[ INFO] [1562571198.117132466]: Setting heading source to 0X01
[ INFO] [1562571198.126782797]: mip_filter_heading_source function timed out.
[ INFO] [1562571198.627169247]: Read back heading source...
[ INFO] [1562571198.637009362]: mip_filter_heading_source function timed out.
[ INFO] [1562571198.637034647]: Heading source = 0000
[ INFO] [1562571199.137371066]: Saving heading source to EEPROM
[ INFO] [1562571199.147323121]: mip_filter_heading_source function timed out.
[ INFO] [1562571199.647768220]: Setting auto-initinitalization to: 0X01
[ INFO] [1562571199.657423193]: mip_filter_auto_initialization function timed out.
[ INFO] [1562571200.157771561]: Reading back auto-initialization value
[ INFO] [1562571200.167601925]: mip_filter_auto_initialization function timed out.

[ERROR] [1562571200.667954273]: Failure: Auto init. setting set to be 0X01, but reads as 0000

[ INFO] [1562571200.668091844]: Saving auto init. settings to EEPROM
[ INFO] [1562571200.677846283]: mip_filter_auto_initialization function timed out.
[ INFO] [1562571201.178207335]: Enabling AHRS stream
[ INFO] [1562571201.432485499]: Enabling Filter stream
[ INFO] [1562571201.440120008]: mip_3dm_cmd_continuous_data_stream function timed out.
[ INFO] [1562571201.690361278]: Enabling GPS stream
[ INFO] [1562571201.942643743]: End of device setup - starting streaming
[ INFO] [1562571201.942769275]: Reset filter
[ INFO] [1562571201.950407955]: mip_filter_reset_filter function timed out.
[ INFO] [1562571202.200731197]: Setting spin rate to <300>
`

here are the things i noticed-

1. I have gone through the DCP manual of 35 model and i couldn't find any term like "declination source" where as there is good description about this in the DCP manual of 45 model. what i infer from it is that this feature does not belong to 35 model.
2. Although some of the data is published correctly but i needed the odom data which is not published.
3. also there is no mention of dynamics mode for 35 model which is also producing error.