wheeled-odometry | Movement Sensor Component

wheeled-odometry

Configure a wheeled-odometry movement sensor to implement wheeled odometry on your machine.

Wheeled odometry is the estimation of the rate of change of position, orientation, linear velocity, and angular velocity using the dimensions of a base, calculated by measuring the movement of the motors through encoders. Because of this method of estimation, you don’t have to have a specific piece of movement sensor hardware to implement wheeled-odometry on your machine. This model uses encoders from position reporting motors to get an odometry estimate of a wheeled base as it moves.

With a configured wheeled-odometry movement sensor, your machine calculates an estimation of the position, orientation, linear velocity, and angular velocity of the wheeled base each time time_interval_msec elapses during a session. You can access these readings through the movement sensor API. For the best accuracy with odometry calculations, it is recommended you configure a time interval of less than 1000 milliseconds.

Set-up requirements

To prepare your machine, attach encoders to each of the position-reporting motors on your base to measure their rotation.

Select and configure motors that can report their own position, like gpio motors with encoders, or the odrive module. You can access this property of a configured motor through the motor API’s GetProperties().
Configure your rover as a wheeled base component. Make sure to configure the base width and circumference, as these measurements as a property of the base are vital for accurate odometry estimations by your movement sensor. This movement sensor accesses these values through the base’s GetProperties() API method.
Then, proceed to configure a wheeled-odometry movement sensor with the name of each of the motor components.

Configuration

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Attributes

The following attributes are available for wheeled-odometry movement sensors:

Name	Type	Required?	Description
`base`	string	Required	The `name` of the base to which the encoders making up this movement sensor are wired.
`left_motors`	object	Required	A list containing the name of each of the bases’ left position-reporting motors.
`right_motors`	object	Required	A list containing the name of each of the bases’ right position-reporting motors.
`time_interval_msec`	float	Optional	The time in milliseconds between each wheeled odometry calculation. Default: `500.0`