feathersdk.robot.services.wheel_odometry_service Module

Dead-reckoning odometry for a three-wheel swerve base from motor mech_pos feedback.

class feathersdk.robot.services.wheel_odometry_service.WheelOdometryServiceConfig(*, odometry_source='wheel', module_name='wheel_odometry_service', operating_frequency=30.0, wheel_size_mult=1.0)

Bases: PyDFrozenBaseModel

Configuration for wheel-encoder odometry.

Parameters:

  • odometry_source (Literal['wheel'])

  • module_name (str)

  • operating_frequency (float)

  • wheel_size_mult (float)

odometry_source: Literal['wheel']

Selects this config as wheel-encoder odometry on FeatherRobotConfig.odometry_service_config.

module_name: str

The name of the module.

operating_frequency: float

The operating frequency of the wheel odometry service in Hz.

wheel_size_mult: float

Scale applied to the URDF / nav wheel radius (wear, squish, etc.).

model_config: ClassVar[ConfigDict] = {'frozen': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class feathersdk.robot.services.wheel_odometry_service.WheelOdometryService(config, *args, **kwargs)

Bases: RobotModule[WheelOdometryServiceConfig]

Integrates turning/drive mech_pos into a rigid-body base pose via least squares.

Each module’s drive Δmech_pos is projected along its steering angle into a body-frame displacement. The three modules overdetermine (δx, δy, δψ), so wheels may roll at different rates without a separate code path.

Requires robot.navigation_system. Geometry comes from NavigationSystemConfig.wheel_radius / wheel_positions once navigation has initialized, or from the URDF if those are unset.

Parameters:
get_pose()

Return the current dead-reckoned pose (x, y, yaw) in meters / radians.

Return type:

OdometryPose

seed()

Record current drive mech_pos as the integration baseline (no pose change).

Return type:

None

reset(pose=(0.0, 0.0, 0.0))

Reset the pose and re-seed drive encoder baselines.

Parameters:

pose (OdometryPose) – Pose to set as the new origin. Defaults to (0, 0, 0).

Return type:

None

update()

Integrate one step from the latest turning/drive mech_pos readings.

Skips the step if navigation is not initialized or any module is missing telemetry.

Return type:

None