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NMS Faux Odometry

by Synthiam

Generate estimated pose odometry based on the travel distance of the movement manager.

How to add the NMS Faux Odometry robot skill

  1. Load the most recent release of ARC (Get ARC).
  2. Press the Project tab from the top menu bar in ARC.
  3. Press Add Robot Skill from the button ribbon bar in ARC.
  4. Choose the Navigation category tab.
  5. Press the NMS Faux Odometry icon to add the robot skill to your project.

Don't have a robot yet?

Follow the Getting Started Guide to build a robot and use the NMS Faux Odometry robot skill.

How to use the NMS Faux Odometry robot skill

For robots that do not have odometry sensor feedback (i.e. wheel encoders, RealSense D435i, etc.), this will generate estimated pose odometry based on the travel distance of the movement manager.

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Configuration Menu


This robot skill calculates the distance the robot is moving based on the speed. Because ARC has dynamic speeds, the calibration will require a few measurements of a robot's travel distance over time. This information is entered in the config menu.
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1) Speed 255 Distance - This is the distance in mm the robot travels at 255 speed in 1 second. Place a tape measure or ruler alongside the robot, starting at the center of the wheel. Press the TEST button and the robot will move quickly at full speed for 1 second. Measure how many mm the robot has moved and enter it here.

2) Speed 128 Distance - This is the distance in mm the robot travels at 128 speed in 1 second. Place a tape measure or ruler alongside the robot, starting at the center of the wheel. Press the TEST button and the robot will move quickly at full speed for 1 second. Measure how many mm the robot has moved and enter it here.

3) Speed 10 Distance - This is the distance in mm the robot travels at 10 speed in 1 second. Place a tape measure or ruler alongside the robot, starting at the center of the wheel. Press the TEST button and the robot will move quickly at full speed for 1 second. Measure how many mm the robot has moved and enter it here.

4) Pivot Diameter - The distance between the center across to each wheel.

5) NMS Update - How often the robot skill will send data to the NMS. It is best to leave this at the default value of 250.

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Synthiam
#1  
Updated to fix error when closing the robot skill