DOCS-906: Document wheeled-odometry model of movement sensor

docs/components/movement-sensor/_index.md

@@ -38,6 +38,7 @@ Model | Description <a name="model-table"></a>
 [`accel-adxl345`](./adxl345/) | The [Analog Devices ADXL345](https://www.analog.com/en/products/adxl345.html) digital accelerometer
 [`gyro-mpu6050`](./mpu6050/) | A gyroscope/accelerometer manufactured by TDK InvenSense
 [`merged`](./merged/) | A model that allows you to aggregate the API methods supported by multiple sensors into a singular sensor client, effectively merging the models of the individual resources
+[`wheeled-odometry`](./wheeledodometry/) | A model that uses [encoders](/components/encoder/) to get an odometry estimate from a wheeled base
 [`fake`](./fake/) | Used to test code without hardware
 
 ## Control your movement sensor with Viam's client SDK libraries

docs/components/movement-sensor/wheeled-odometry.md

@@ -0,0 +1,69 @@
+---
+title: "Configure a wheeled-odometry movement sensor"
+linkTitle: "wheeled-odometry"
+type: "docs"
+description: "Configure a wheeled-odometry movement sensor."
+images: ["/icons/components/imu.svg"]
+tags: ["movement sensor", "components", "movement sensor"]
+# SMEs: Rand, Martha
+---
+
+Configure a `wheeled-odometry` movement sensor to implement _wheeled odometry_ on your robot.
+
+_Wheeled odometry_ is the estimation of position, orientation, linear velocity, and angular velocity using the dimensions of a base.
+This model uses [encoders](/components/encoder/) from [position reporting motors](/components/motor/) to get an odometry estimate from a 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.
+You can access these readings through the [movement sensor API](/components/movement-sensor/#api).
+
+After configuring a `wheeled-odometry` movement sensor, you can operate your base with Viam's built-in services like the [navigation service](/services/navigation/).
+
+## 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.
+
+- Pick out motors that can report their own position, like the [`roboclaw`](/components/motor/roboclaw/) or [`gpio` motors](/components/motor/gpio/) with [encoders](/components/encoder/#configuration).
+You can access this property of a configured motor through the [motor API's `GetProperties()`](/components/motor/#getproperties).
+- Configure your rover as a [wheeled base component](/components/base/wheeled/).
+- Configure each of the position-reporting motors [as motor components](/components/motor/).
+- Configure an [encoder component](/components/encoder/#configuration) for each of the encoders you attached to the position-reporting motors.
+- Then, proceed to [configure](#configuration) a `wheeledodometry` movement sensor with the name of each of the encoder components.
+
+{{% alert title="Tip" color="tip" %}}
+
+The `roboclaw` motor does not require you to configure [encoder components](/components/encoder/#configuration) for use with the `wheeled-odometry` movement sensor.
+It reports its own position with a built-in encoded motor.
+
+{{% /alert %}}
+
+## Configuration
+
+Navigate to the **Config** tab of your robot's page in [the Viam app](https://app.viam.com).
+Click on the **Components** subtab and navigate to the **Create component** menu.
+Select **Raw JSON** mode.
+Copy and paste the following:
+
+```json {class="line-numbers linkable-line-numbers"}
+"name" : "<your-wheeledodometry-movement-sensor-name>",
+"type" : "movement_sensor",
+"model" : "wheeledodometry",
+"attributes" : {
+    "base" : "<your-base-name>",
+    "left_motors" : ["<your-base-left-motor-name-1>", "<your-base-left-motor-name-2>"],
+    "right_motors" : ["<your-base-right-motor-name-1", "your-base-right-motor-name-2>"],
+    "time-interval-msec": <number>
+}
+```
+
+Fill in and edit the attributes as applicable.
+
+## Attributes
+
+The following attributes are available for `wheeledodometry` movement sensors:
+
+| Name | Type | Inclusion | Description |
+| ---- | ---- | --------- | ----------- |
+| `base` | string | **Required** | The `name` of the [base](/components/base/) to which the encoders making up this movement sensor are wired. |
+| `left_motors` | object | **Required** | A struct holding the name of each of the bases' left [position-reporting motors](/components/motor/gpio/). |
+| `right_motors` | object | **Required** | A struct holding the name of each of the bases' right [position-reporting motors](/components/motor/gpio/). |
+| `time_interval_msec` | number | Optional | The time in between each wheeled odometry calculation. <br> Default: `500.0` </br> |

docs/extend/modular-resources/upload/_index.md

@@ -173,6 +173,8 @@ To upload your custom module to the Viam Registry, either as a public or private
    viam module upload --version 1.0.0 --platform darwin/arm64 module.tar.gz
    ```
 
+   When you `upload` a module, the command performs basic [validation](/manage/cli/#upload-validation) of your packaged module to ensure it is compatible with the Viam Registry.
+
 For more information, see the [`viam module` command](/manage/cli/#module)
 
 ## Update an existing module
@@ -226,4 +228,6 @@ You can also use the [Viam CLI](/manage/cli/) to update an existing custom modul
    viam module upload --version 1.0.1 --platform darwin/arm64 my-module.tar.gz
    ```
 
+   When you `upload` a module, the command performs basic [validation](/manage/cli/#upload-validation) of your packaged module to ensure it is compatible with the Viam Registry.
+
 For more information, see the [`viam module` command](/manage/cli/#module)

docs/manage/CLI.md

@@ -284,13 +284,14 @@ See [Upload a custom module](/extend/modular-resources/upload/#upload-a-custom-m
 | ----------- | ----------- | ----------- |
 | `create`    | generate new metadata for a custom module on your local filesystem  | - |
 | `update`    | update an existing custom module on your local filesystem with recent changes to the [`meta.json` file](#the-metajson-file) | - |
-| `upload`    | upload a new or existing custom module on your local filesystem to the Viam Registry |
+| `upload`    | validate and upload a new or existing custom module on your local filesystem to the Viam Registry. See [Upload validation](#upload-validation) for more information |
 | `--help`      | return help      | - |
 
 ##### Named arguments
 
 |        argument     |       description | applicable commands | required
 | ----------- | ----------- | ----------- | ----------- |
+| `--force`    | skip local validation of the packaged module, which may result in an unusable module if the contents of the packaged module are not correct | `upload` | false |
 | `--module`     |  the path to the [`meta.json` file](#the-metajson-file) for the custom module, if not in the current directory | `update`, `upload` | false |
 | `--name`     |  the name of the custom module to be created | `create` | true |
 | `--org-id`      | the organization ID to associate the module to. See [Using the `--org-id` argument](#using-the---org-id-and---public-namespace-arguments) | `create`, `update`, `upload` | true |
@@ -331,6 +332,16 @@ Users can choose to pin to a specific patch version, permit upgrades within majo
 When you `update` a module configuration and then `upload` it, the `entrypoint` for that module defined in the [`meta.json` file](#the-metajson-file) is associated with the specific `--version` for that `upload`.
 Therefore, you are able to change the `entrypoint` file from version to version, if desired.
 
+##### Upload validation
+
+When you `upload` a module, the command validates your local packaged module to ensure that it meets the requirements to successfully upload to the Viam Registry.
+The following criteria are checked for every `upload`:
+
+* The packaged module must exist on the filesystem at the path provided to the `upload` command.
+* The packaged module must use the `.tar.gz` extension.
+* The entry point file specified in the [`meta.json` file](#the-metajson-file) must exist on the filesystem at the path specified.
+* The entry point file must be executable.
+
 ##### The `meta.json` file
 
 When uploading a custom module, the Viam Registry tracks your module's metadata in a `meta.json` file.

docs/services/slam/_index.md

@@ -139,7 +139,7 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 slam_svc = SLAMClient.from_robot(robot=robot, name="my_slam_service")
 
 # Get the point cloud map in standard PCD format.
-pcd_map = await slam.get_point_cloud_map()
+pcd_map = await slam_svc.get_point_cloud_map()
 ```
 
 {{% /tab %}}

static/include/components/servo-control.md

@@ -2,4 +2,4 @@
 
 After you establish the connection to your servo motor, navigate to the [Control tab](/manage/fleet/robots/#control) and select the dropdown panel dedicated to the motor. Use the buttons to move the servo motor to the desired angle.
 
-![The servo component in the control tab](components/servo/servo-control-tab.png)
+{{<imgproc src="/components/servo/servo-control-tab.png" resize="400x" declaredimensions=true alt="The servo component in the control tab">}}