DOCS-906: Document wheeled-odometry model of movement sensor
#1734
Conversation
sguequierre
commented
Sep 1, 2023
sguequierre
commented
- Documents this model of movement sensor, which aggregates encoders from an encoded wheeled based together and performs an odometry assessment. Tried to make this clear and include some info about what odometry is for newer users, needs SME review for-sure
viambot
added
the
safe to build
|
|
||
| ## Set-up requirements | ||
|
|
||
| To prepare your robot, attach [encoders](/components/encoder/) to each of the position-reporting motors on your base to measure their rotation. |
There was a problem hiding this comment.
This instruction is specific to the gpio motor model only - I would say "pick out a motor that can report it's position through encoders"
There was a problem hiding this comment.
Put this on line 25-- lmk if you want me to move to be in that first sentence! I also moved a lot of the info
i had on the bottom of the page before so that people scanning can see the info about why it's useful more easily-- lmk what you think
There was a problem hiding this comment.
happy to add a few more sentences like this is why this is useful if you want!
| type: "docs" | ||
| description: "Configure a wheeled-odometry movement sensor." | ||
| images: ["/icons/components/imu.svg"] | ||
| tags: ["movement sensor", "components", "movement sensor"] |
There was a problem hiding this comment.
nit: extra movement sensor
There was a problem hiding this comment.
haha removed! MAking better tags
| Configure a `wheeled-odometry` movement sensor to implement _wheeled odometry_ on your robot. | ||
|
|
||
| _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. | ||
| This model uses [encoders](/components/encoder/) from [position reporting motors](/components/motor/) to get an odometry estimate of a wheeled base as it moves. |
There was a problem hiding this comment.
What does This model refer to? wheeled-odometry is introduced as a movement sensor.
There was a problem hiding this comment.
Added clarification that it is movement sensor
| "right_motors" : ["<your-base-right-motor-name-1", "your-base-right-motor-name-2>"], | ||
| "time-interval-msec": <number> | ||
| } | ||
| ``` |
There was a problem hiding this comment.
Unsure: Does this require depends_on like other things that function as other components? (Like the visual odometry sensor depends_on a camera.) I think ... no?
There was a problem hiding this comment.
the validation function of most built-in models appends all dependencies, they are implicit and don't need to be explicitly configured.
There was a problem hiding this comment.
but they will show up in your config once added as dependencies, you just don't have to configure them as a user - we use the helper functions to do that for you.
Co-authored-by: andf-viam <[email protected]>
| | `right_motors` | object | **Required** | A struct holding the name of each of the bases' right [encoded motors](/components/encoder/). | | ||
| | `time_interval_msec` | number | Optional | The time in between each wheeled odometry calculation. <br> Default: `500.0` </br> | | ||
|
|
||
| With a configured `wheeledodometry` movement sensor, after every time `time_interval_msec` elapses during a [session](/program/apis/sessions/), your robot calculates an estimation of the position, orientation, linear velocity, and angular velocity of the wheeled base. |
There was a problem hiding this comment.
| With a configured `wheeledodometry` movement sensor, after every time `time_interval_msec` elapses during a [session](/program/apis/sessions/), your robot calculates an estimation of the position, orientation, linear velocity, and angular velocity of the wheeled base. | |
| With a configured `wheeled-odometry` movement sensor, after every time `time_interval_msec` elapses during a [session](/program/apis/sessions/), your robot calculates an estimation of the position, orientation, linear velocity, and angular velocity of the wheeled base. |
| With a configured `wheeledodometry` movement sensor, after every time `time_interval_msec` elapses during a [session](/program/apis/sessions/), your robot calculates an estimation of the position, orientation, linear velocity, and angular velocity of the wheeled base. | ||
| You can access these readings through the [movement sensor API](/components/movement-sensor/#api). | ||
|
|
||
| After configuring a `wheeledodometry` movement sensor, you can operate your base with Viam's built-in services like the [navigation service](/services/navigation/). |
There was a problem hiding this comment.
| After configuring a `wheeledodometry` movement sensor, you can operate your base with Viam's built-in services like the [navigation service](/services/navigation/). | |
| After configuring a `wheeled-odometry` movement sensor, you can operate your base with Viam's built-in services like the [navigation service](/services/navigation/). |
sguequierre
changed the title
wheeledodometry model of movement sensorwheeled-odometry model of movement sensor
|
You can view a rendered version of the docs from this PR at https://docs-test.viam.dev/e07588d22bc05fea44171501ae07d4021a323370/public |
