You can configure your odometry stream to be ingested over a realtime data channel. You'll do this by adding the same odometry stream under the Odometry section of your device teleoperation settings and in the Navigation stream.

This guide will teach you how to add a realtime odometry stream to your teleoperation configuration.

Step 1: Navigate to device teleoperation settings

1. In Formant, in the upper-left corner, open the menu and click Settings.
2. Click Devices, and then click on the device you want to configure.
3. Click on the Teleoperation tab to open the teleoperation configuration page.

Step 2: Configure a odometry stream

ROS 1

Formant supports the nav_msgs/Odometry data type.

1. In the teleoperation configuration page, scroll down to odometry and click the plus (+) icon.
2. Click Add ROS Topic.
3. Enter the name of the ROS topic which contains your odometry data.
4. Click Done.

ROS 2/API

You can also display odometry data from a ROS 2 stream, or from the Formant Agent SDK.

1. In the teleoperation configuration page, scroll down to odometry and click the plus (+) icon.
2. Click Add from API.
3. Enter the name of your odometry data stream.
4. Click Done.

Step 3: Add odometry stream to realtime data channel

If you add the same odometry stream here and in your Navigation stream, that odometry data will be sent over the realtime data pipeline, in addition to the telemetry data pipeline.

To add odometry to your navigation stream, see Teleoperation: Add a localization stream.

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For more information on the difference between telemetry and realtime data streams, see Telemetry vs. realtime data streams.

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