inertiacube2
[Drivers]

Collaboration diagram for inertiacube2:

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 position2d device.

Compile-time dependencies

<isense/isense.h>

Provides

position2d : corrected pose information

Requires

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"
)

Author:: Andrew Howard

Last updated 12 September 2005 21:38:45

inertiacube2 [Drivers]

inertiacube2
[Drivers]