inertiacube2
iSense InertiaCube2 IMU
- Todo
- This driver is currently disabled because it needs to be updated to the Player 2.0 API.
Uses an iSense InertiaCube2 inertial orientation sensor to correct the odometry coming from a robot. The assumption is that the position device we subscribe to has good position information but poor orientation information.
Neither configuration requests nor commands are passed through to the underlying interface_position2d device.
- Compile-time dependencies
- <isense/isense.h>
- Provides
- interface_position2d : corrected pose information
- Requires
- interface_position2d : source of raw odometry
- Configuration requests
- none
- Configuration file options
- port (string)
- Default: "/dev/ttyS3"
- The serial port where the InertiaCube2 is connected
- compass (integer)
- Default: 2
- Compass setting (0 = off, 1 = partial, 2 = full).
- Example
driver ( name "p2os" provides ["odometry::position:1"] port "/dev/ttyS0" ) driver ( name "inertiacube2" requires ["position:1"] # get odometry from position:1 provides ["position:0"] # produce corrected pose on position:0 port "/dev/ttyS1" )