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inertiacube2 [Drivers] 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 position device. Compile-time dependencies <isense/isense.h> Provides position : corrected pose information Requires position : 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" ) Authors Andrew Howard