ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
The gyro on the power board provides input to the "user analog input" pin on the Create. Your Windows API will likely provide a method for reading this. If it doesn't, check out this document.
The next step you'll have is to correct for sensor error. There are two primary types you should worry about:
After you do those two corrections, you're left with incorporating that data into your position estimates. You can start by integrating it to determine chassis rotation in your current dead-reckoning approach, and improve it further by adding Kinect data via an extended Kalman Filter. I'm not sure what direction you want to go in for this latter point, but hopefully the above helps...1.