The Odometry service allows to set trip odometry and query odometry of the mobility system.

Require: core:AccessControl
Inherit from: none

16.1 Service Behavior

16.1.1 State Diagram

  Figure 15 Odometry State Diagram

16.1.2 State Actions

State Actions
  • Request Reset Odometry
  • Query Odometry
  • Confirm Reset Odometry.
  • Report Odometry

16.1.3 Internal Events

Event Parameters Purpose
ieReceiveMessage Message received

16.1.4 Transitions

Transition Trigger Condition Action
A ieReceiveMessage Process received messages

16.2 Protocol

16.2.1 Incoming Message Set

# ID Message
1 H:0x00000001
L: 0x00000232
Request Reset Odometry
2 H:0x00000001
L: 0x00000234
Query Odometry

16.2.2 Outgoing Message Set

# ID Message
1 H:0x00000001
L: 0x00000233
Confirm Reset Odometry
2 H:0x00000001
L: 0x00000235
Report Odometry

16.3 Parameters

  1. CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
  2. DATATIMEOUT double, timeout in seconds for not receiving odometry updates, default=0.5.

16.4 Data


  1. location=odometry, type=OdometryRec