inertiacube2Uses 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
- Configuration requests
- 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).
requires ["position:1"] # get odometry from position:1
provides ["position:0"] # produce corrected pose on position:0
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