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NMS Faux Odometry

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

+ How To Add This Control To Your Project (Click to Expand)
  1. Make sure you have the latest version of ARC installed.
  2. Select the Get button in this page to download the archive file.
  3. Double click the downloaded archive file to execute installer.
  4. The installer will add this control to ARC.
  5. Load ARC and press the Project -> Add Control button from the menu.
  6. Choose the Navigation category tab.
  7. Press the NMS Faux Odometry icon to add the control to your project.

Manual

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.