DOCS-1278: Add clearer requirements for movement sensor stack with na…

…vigation (#2047)

Co-authored-by: Naomi Pentrel <[email protected]>

docs/services/navigation/_index.md

@@ -15,19 +15,20 @@ The Navigation service is the stateful definition of Viam's [motion service](/se
 It uses GPS to autonomously navigate a rover [base](/components/base/) to user defined endpoints called waypoints.
 Configure your base with a navigation service, add waypoints, and set the mode of the service to [**Waypoint**](#setmode) to move your rover along a defined path at your desired motion configuration.
 
-## Configuration
+## Requirements
 
-You must configure a [base](/components/base/) with a [movement sensor](/components/movement-sensor/) as part of your robot to configure a Navigation service.
+You must configure a [base](/components/base/) with [movement sensors](/components/movement-sensor/) as part of your robot to configure a Navigation service.
 
-{{% alert title="Important" color="note" %}}
+To use the navigation service, configure a stack of movement sensors that implement the following methods in their {{< glossary_tooltip term_id="model" text="models'" >}} implementations of the [movement sensor API](/components/movement-sensor/#api):
 
-Make sure the [movement sensor](/components/movement-sensor/) you use supports [`GetPosition()`](/components/movement-sensor/#getposition) and at least one of [`GetCompassHeading()`](/components/movement-sensor/#getcompassheading) or [`GetOrientation()`](/components/movement-sensor/#getorientation) in its {{< glossary_tooltip term_id="model" text="model's" >}} implementation of the [Movement Sensor API](/components/movement-sensor/#api).
+- [`GetPosition()`](/components/movement-sensor/#getposition)
+- [`GetAngularVelocity()`](/components/movement-sensor/#getangularvelocity)
+- [`GetLinearVelocity()`](/components/movement-sensor/#getlinearvelocity)
+- [`GetCompassHeading()`](/components/movement-sensor/#getcompassheading)
 
-- It must support `GetPosition()` to report the robot's current GPS location.
-- It must also support either `GetCompassHeading()` or `GetOrientation()` to report which way the robot is facing.
-- If your movement sensor provides multiple methods, your robot will default to using the values returned by `GetCompassHeading()`.
+See [navigation concepts](#navigation-concepts) for more info on how to implement and use movement sensors taking these measurements.
 
-{{% /alert %}}
+## Configuration
 
 {{< tabs >}}
 {{% tab name="Config Builder" %}}

docs/tutorials/services/navigate-with-rover-base.md

@@ -52,14 +52,17 @@ Follow this tutorial to get started using Viam's Navigation service to help your
 
    {{<imgproc src="/tutorials/navigate-with-rover-base/leo-in-office.png" resize="500x" declaredimensions=true alt="Leo rover that is navigating using the navigation service in a robotics lab.">}}
 
-2. **A movement sensor with GPS position and angular and linear velocity readings**
+2. **A movement sensor with GPS position, compass heading, and angular and linear velocity readings**
 
    We used three movement sensors to satisfy these requirements:
 
-   1. A [SparkFun GPS-RTK-SMA Breakout](https://www.sparkfun.com/products/16481) [movement sensor](/components/movement-sensor/) configured as a [`gps-nmea-rtk-serial`](/components/movement-sensor/gps/gps-nmea-rtk-serial/) model, providing GPS position measurements.
+   1. A [SparkFun GPS-RTK-SMA Breakout](https://www.sparkfun.com/products/16481) [movement sensor](/components/movement-sensor/) configured as a [`gps-nmea-rtk-serial`](/components/movement-sensor/gps/gps-nmea-rtk-serial/) model, providing GPS position and compass heading measurements.
    2. A [`wheeled-odometry`](/components/movement-sensor/wheeled-odometry/) model gathering angular and linear velocity information from the [encoders](/components/encoder/) wired to our base's [motors](/components/motor/).
    3. A [`merged`](/components/movement-sensor/merged/) model aggregating the readings together for the navigation service to consume.
 
+   You can use any combo of movement sensors you want as long as you are getting all the types of measurements required.
+   See [the navigation service](/services/navigation/#requirements) for more info on movement sensor requirements.
+
 {{% alert title="Tip" color="tip" %}}
 
 If you are using different hardware, the navigation setup process will be mostly the same, but you will need to substitute your robot's components.