diff --git a/cartofacade/capi.go b/cartofacade/capi.go
index 33057fcd..bfe1cafd 100644
--- a/cartofacade/capi.go
+++ b/cartofacade/capi.go
@@ -17,6 +17,9 @@ import (
 	"errors"
 	"unsafe"
 
+	geo "github.com/kellydunn/golang-geo"
+	"go.viam.com/rdk/spatialmath"
+
 	s "github.com/viamrobotics/viam-cartographer/sensors"
 )
 
@@ -57,6 +60,7 @@ type CartoInterface interface {
 	terminate() error
 	addLidarReading(string, s.TimedLidarReadingResponse) error
 	addIMUReading(string, s.TimedIMUReadingResponse) error
+	addOdometerReading(string, s.TimedOdometerReadingResponse) error
 	position() (Position, error)
 	pointCloudMap() ([]byte, error)
 	internalState() ([]byte, error)
@@ -248,6 +252,24 @@ func (vc *Carto) addIMUReading(imu string, reading s.TimedIMUReadingResponse) er
 	return nil
 }
 
+// addOdometerReading is a wrapper for viam_carto_add_odometer_reading
+func (vc *Carto) addOdometerReading(odometer string, reading s.TimedOdometerReadingResponse) error {
+	value := toOdometerReading(odometer, reading)
+
+	status := C.viam_carto_add_odometer_reading(vc.value, &value)
+
+	if err := toError(status); err != nil {
+		return err
+	}
+
+	status = C.viam_carto_add_odometer_reading_destroy(&value)
+	if err := toError(status); err != nil {
+		return err
+	}
+
+	return nil
+}
+
 // position is a wrapper for viam_carto_get_position
 func (vc *Carto) position() (Position, error) {
 	value := C.viam_carto_get_position_response{}
@@ -435,11 +457,11 @@ func toLidarReading(lidar string, reading s.TimedLidarReadingResponse) C.viam_ca
 	return sr
 }
 
-func toIMUReading(imu string, reading s.TimedIMUReadingResponse) C.viam_carto_imu_reading {
+func toIMUReading(movementSensor string, reading s.TimedIMUReadingResponse) C.viam_carto_imu_reading {
 	sr := C.viam_carto_imu_reading{}
-	sensorCStr := C.CString(imu)
+	sensorCStr := C.CString(movementSensor)
 	defer C.free(unsafe.Pointer(sensorCStr))
-	sr.imu = C.blk2bstr(unsafe.Pointer(sensorCStr), C.int(len(imu)))
+	sr.imu = C.blk2bstr(unsafe.Pointer(sensorCStr), C.int(len(movementSensor)))
 
 	sr.lin_acc_x = C.double(reading.LinearAcceleration.X)
 	sr.lin_acc_y = C.double(reading.LinearAcceleration.Y)
@@ -452,6 +474,27 @@ func toIMUReading(imu string, reading s.TimedIMUReadingResponse) C.viam_carto_im
 	return sr
 }
 
+func toOdometerReading(movementSensor string, reading s.TimedOdometerReadingResponse) C.viam_carto_odometer_reading {
+	sr := C.viam_carto_odometer_reading{}
+	sensorCStr := C.CString(movementSensor)
+	defer C.free(unsafe.Pointer(sensorCStr))
+	sr.odometer = C.blk2bstr(unsafe.Pointer(sensorCStr), C.int(len(movementSensor)))
+
+	translation := spatialmath.GeoPointToPoint(reading.Position, geo.NewPoint(0, 0))
+	rotation := reading.Orientation.Quaternion()
+
+	sr.translation_x = C.double(translation.X)
+	sr.translation_y = C.double(translation.Y)
+	sr.translation_z = C.double(translation.Z)
+	sr.rotation_x = C.double(rotation.Imag)
+	sr.rotation_y = C.double(rotation.Jmag)
+	sr.rotation_z = C.double(rotation.Kmag)
+	sr.rotation_w = C.double(rotation.Real)
+
+	sr.odometer_reading_time_unix_milli = C.int64_t(reading.ReadingTime.UnixMilli())
+	return sr
+}
+
 func bstringToByteSlice(bstr C.bstring) []byte {
 	return C.GoBytes(unsafe.Pointer(bstr.data), bstr.slen)
 }
@@ -526,6 +569,8 @@ func toError(status C.int) error {
 		return errors.New("VIAM_CARTO_IMU_PROVIDED_AND_IMU_ENABLED_MISMATCH")
 	case C.VIAM_CARTO_IMU_READING_INVALID:
 		return errors.New("VIAM_CARTO_IMU_READING_INVALID")
+	case C.VIAM_CARTO_ODOMETER_READING_INVALID:
+		return errors.New("VIAM_CARTO_ODOMETER_READING_INVALID")
 	default:
 		return errors.New("status code unclassified")
 	}
diff --git a/cartofacade/capi_mock.go b/cartofacade/capi_mock.go
index 85ce8095..30fa46db 100644
--- a/cartofacade/capi_mock.go
+++ b/cartofacade/capi_mock.go
@@ -27,6 +27,7 @@ type CartoMock struct {
 	TerminateFunc            func() error
 	AddLidarReadingFunc      func(string, s.TimedLidarReadingResponse) error
 	AddIMUReadingFunc        func(string, s.TimedIMUReadingResponse) error
+	AddOdometerReadingFunc   func(string, s.TimedOdometerReadingResponse) error
 	PositionFunc             func() (Position, error)
 	PointCloudMapFunc        func() ([]byte, error)
 	InternalStateFunc        func() ([]byte, error)
@@ -66,11 +67,19 @@ func (cf *CartoMock) addLidarReading(lidar string, reading s.TimedLidarReadingRe
 }
 
 // addIMUReading calls the injected AddIMUReadingFunc or the real version.
-func (cf *CartoMock) addIMUReading(imu string, reading s.TimedIMUReadingResponse) error {
+func (cf *CartoMock) addIMUReading(movementSensor string, reading s.TimedIMUReadingResponse) error {
 	if cf.AddIMUReadingFunc == nil {
-		return cf.Carto.addIMUReading(imu, reading)
+		return cf.Carto.addIMUReading(movementSensor, reading)
 	}
-	return cf.AddIMUReadingFunc(imu, reading)
+	return cf.AddIMUReadingFunc(movementSensor, reading)
+}
+
+// addOdometerReading calls the injected AddOdometerReadingFunc or the real version.
+func (cf *CartoMock) addOdometerReading(movementSensor string, reading s.TimedOdometerReadingResponse) error {
+	if cf.AddOdometerReadingFunc == nil {
+		return cf.Carto.addOdometerReading(movementSensor, reading)
+	}
+	return cf.AddOdometerReadingFunc(movementSensor, reading)
 }
 
 // position calls the injected PositionFunc or the real version.
diff --git a/cartofacade/capi_test.go b/cartofacade/capi_test.go
index b9cce5c5..0c61c8b5 100644
--- a/cartofacade/capi_test.go
+++ b/cartofacade/capi_test.go
@@ -8,6 +8,7 @@ import (
 	"time"
 
 	"github.com/golang/geo/r3"
+	geo "github.com/kellydunn/golang-geo"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/spatialmath"
 	"go.viam.com/test"
@@ -58,18 +59,18 @@ func testAddLidarReading(t *testing.T, vc Carto, pcdPath string, timestamp time.
 		ReadingTime: timestamp,
 	}
 
-	err = vc.addLidarReading("mylidar", reading)
+	err = vc.addLidarReading("my-lidar", reading)
 	test.That(t, err, test.ShouldBeNil)
 }
 
 func TestGetConfig(t *testing.T) {
-	t.Run("config properly converted between C and go with no IMU specified", func(t *testing.T) {
-		cfg := GetTestConfig("mylidar", "", "", true)
+	t.Run("config properly converted between C and go with no movement sensor specified", func(t *testing.T) {
+		cfg := GetTestConfig("my-lidar", "", "", true)
 		vcc, err := getConfig(cfg)
 		test.That(t, err, test.ShouldBeNil)
 
 		camera := bstringToGoString(vcc.camera)
-		test.That(t, camera, test.ShouldResemble, "mylidar")
+		test.That(t, camera, test.ShouldResemble, "my-lidar")
 
 		enableMapping := bool(vcc.enable_mapping)
 		test.That(t, enableMapping, test.ShouldBeTrue)
@@ -77,16 +78,16 @@ func TestGetConfig(t *testing.T) {
 		test.That(t, vcc.lidar_config, test.ShouldEqual, TwoD)
 	})
 
-	t.Run("config properly converted between C and go with an IMU specified", func(t *testing.T) {
-		cfg := GetTestConfig("mylidar", "myIMU", "", true)
+	t.Run("config properly converted between C and go with a movement sensor specified", func(t *testing.T) {
+		cfg := GetTestConfig("my-lidar", "my-movement-sensor", "", true)
 		vcc, err := getConfig(cfg)
 		test.That(t, err, test.ShouldBeNil)
 
 		camera := bstringToGoString(vcc.camera)
-		test.That(t, camera, test.ShouldResemble, "mylidar")
+		test.That(t, camera, test.ShouldResemble, "my-lidar")
 
 		movementSensor := bstringToGoString(vcc.movement_sensor)
-		test.That(t, movementSensor, test.ShouldResemble, "myIMU")
+		test.That(t, movementSensor, test.ShouldResemble, "my-movement-sensor")
 
 		enableMapping := bool(vcc.enable_mapping)
 		test.That(t, enableMapping, test.ShouldBeTrue)
@@ -94,18 +95,18 @@ func TestGetConfig(t *testing.T) {
 		test.That(t, vcc.lidar_config, test.ShouldEqual, TwoD)
 	})
 
-	t.Run("config properly converted between C and go with an IMU specified and existing map", func(t *testing.T) {
+	t.Run("config properly converted between C and go with a movement sensor specified and an existing map", func(t *testing.T) {
 		filename := "viam-cartographer/outputs/viam-office-02-22-3/internal_state/internal_state_0.pbstream"
 
-		cfg := GetTestConfig("mylidar", "myIMU", filename, false)
+		cfg := GetTestConfig("my-lidar", "my-movement-sensor", filename, false)
 		vcc, err := getConfig(cfg)
 		test.That(t, err, test.ShouldBeNil)
 
 		camera := bstringToGoString(vcc.camera)
-		test.That(t, camera, test.ShouldResemble, "mylidar")
+		test.That(t, camera, test.ShouldResemble, "my-lidar")
 
 		movementSensor := bstringToGoString(vcc.movement_sensor)
-		test.That(t, movementSensor, test.ShouldResemble, "myIMU")
+		test.That(t, movementSensor, test.ShouldResemble, "my-movement-sensor")
 
 		enableMapping := bool(vcc.enable_mapping)
 		test.That(t, enableMapping, test.ShouldBeFalse)
@@ -137,33 +138,56 @@ func TestToLidarReading(t *testing.T) {
 			Reading:     []byte("he0llo"),
 			ReadingTime: timestamp,
 		}
-		sr := toLidarReading("mylidar", reading)
-		test.That(t, bstringToGoString(sr.lidar), test.ShouldResemble, "mylidar")
+		sr := toLidarReading("my-lidar", reading)
+		test.That(t, bstringToGoString(sr.lidar), test.ShouldResemble, "my-lidar")
 		test.That(t, bstringToGoString(sr.lidar_reading), test.ShouldResemble, "he0llo")
 		test.That(t, sr.lidar_reading_time_unix_milli, test.ShouldEqual, timestamp.UnixMilli())
 	})
 }
 
 func TestToIMUReading(t *testing.T) {
-	reading := s.TimedIMUReadingResponse{
-		LinearAcceleration: r3.Vector{X: 0.1, Y: 0, Z: 9.8},
-		AngularVelocity:    spatialmath.AngularVelocity{X: 0, Y: -0.2, Z: 0},
-	}
 	t.Run("IMU reading properly converted between c and go", func(t *testing.T) {
 		timestamp := time.Date(2021, 8, 15, 14, 30, 45, 100, time.UTC)
-		reading.ReadingTime = timestamp
-		sr := toIMUReading("myIMU", reading)
-		test.That(t, bstringToGoString(sr.imu), test.ShouldResemble, "myIMU")
-		test.That(t, sr.lin_acc_x, test.ShouldEqual, 0.1)
-		test.That(t, sr.lin_acc_y, test.ShouldEqual, 0)
-		test.That(t, sr.lin_acc_z, test.ShouldEqual, 9.8)
-		test.That(t, sr.ang_vel_x, test.ShouldEqual, 0)
-		test.That(t, sr.ang_vel_y, test.ShouldEqual, -0.2)
-		test.That(t, sr.ang_vel_z, test.ShouldEqual, 0)
+		reading := s.TimedIMUReadingResponse{
+			LinearAcceleration: r3.Vector{X: 0.1, Y: 0, Z: 9.8},
+			AngularVelocity:    spatialmath.AngularVelocity{X: 0, Y: -0.2, Z: 0},
+			ReadingTime:        timestamp,
+		}
+		sr := toIMUReading("my-movement-sensor", reading)
+		test.That(t, bstringToGoString(sr.imu), test.ShouldResemble, "my-movement-sensor")
+		test.That(t, sr.lin_acc_x, test.ShouldEqual, reading.LinearAcceleration.X)
+		test.That(t, sr.lin_acc_y, test.ShouldEqual, reading.LinearAcceleration.Y)
+		test.That(t, sr.lin_acc_z, test.ShouldEqual, reading.LinearAcceleration.Z)
+		test.That(t, sr.ang_vel_x, test.ShouldEqual, reading.AngularVelocity.X)
+		test.That(t, sr.ang_vel_y, test.ShouldEqual, reading.AngularVelocity.Y)
+		test.That(t, sr.ang_vel_z, test.ShouldEqual, reading.AngularVelocity.Z)
 		test.That(t, sr.imu_reading_time_unix_milli, test.ShouldEqual, timestamp.UnixMilli())
 	})
 }
 
+func TestToOdometerReading(t *testing.T) {
+	t.Run("odometer reading properly converted between c and go", func(t *testing.T) {
+		timestamp := time.Date(2021, 8, 15, 14, 30, 45, 100, time.UTC)
+		reading := s.TimedOdometerReadingResponse{
+			Position:    geo.NewPoint(4, 5),
+			Orientation: &spatialmath.Quaternion{Real: 0.8, Imag: -0.2, Jmag: 5.6, Kmag: -0.7},
+			ReadingTime: timestamp,
+		}
+		origin := geo.NewPoint(0, 0)
+		translation := spatialmath.GeoPointToPoint(reading.Position, origin)
+		sr := toOdometerReading("my-movement-sensor", reading)
+		test.That(t, bstringToGoString(sr.odometer), test.ShouldResemble, "my-movement-sensor")
+		test.That(t, sr.translation_x, test.ShouldEqual, translation.X)
+		test.That(t, sr.translation_y, test.ShouldEqual, translation.Y)
+		test.That(t, sr.translation_z, test.ShouldEqual, translation.Z)
+		test.That(t, sr.rotation_x, test.ShouldEqual, reading.Orientation.Quaternion().Imag)
+		test.That(t, sr.rotation_y, test.ShouldEqual, reading.Orientation.Quaternion().Jmag)
+		test.That(t, sr.rotation_z, test.ShouldEqual, reading.Orientation.Quaternion().Kmag)
+		test.That(t, sr.rotation_w, test.ShouldEqual, reading.Orientation.Quaternion().Real)
+		test.That(t, sr.odometer_reading_time_unix_milli, test.ShouldEqual, timestamp.UnixMilli())
+	})
+}
+
 func TestBstringToByteSlice(t *testing.T) {
 	t.Run("b strings are properly converted to byte slices", func(t *testing.T) {
 		bstring := goStringToBstring("hell0!")
@@ -172,15 +196,15 @@ func TestBstringToByteSlice(t *testing.T) {
 	})
 }
 
-func TestCGoAPIWithoutIMU(t *testing.T) {
+func TestCGoAPIWithoutMovementSensor(t *testing.T) {
 	pvcl, err := NewLib(0, 1)
 
-	t.Run("test state machine without IMU", func(t *testing.T) {
+	t.Run("test state machine without movement sensor", func(t *testing.T) {
 		// initialize viam_carto_lib
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, pvcl, test.ShouldNotBeNil)
 
-		cfg := GetTestConfig("mylidar", "", "", true)
+		cfg := GetTestConfig("my-lidar", "", "", true)
 		algoCfg := GetTestAlgoConfig(false)
 		vc, err := NewCarto(cfg, algoCfg, &CartoLibMock{})
 
@@ -241,7 +265,7 @@ func TestCGoAPIWithoutIMU(t *testing.T) {
 			Reading:     []byte(""),
 			ReadingTime: timestamp,
 		}
-		err = vc.addLidarReading("mylidar", reading)
+		err = vc.addLidarReading("my-lidar", reading)
 		test.That(t, err, test.ShouldBeError)
 		test.That(t, err.Error(), test.ShouldResemble, "VIAM_CARTO_LIDAR_READING_EMPTY")
 
@@ -251,10 +275,29 @@ func TestCGoAPIWithoutIMU(t *testing.T) {
 			Reading:     []byte("he0llo"),
 			ReadingTime: timestamp,
 		}
-		err = vc.addLidarReading("mylidar", reading)
+		err = vc.addLidarReading("my-lidar", reading)
 		test.That(t, err, test.ShouldBeError)
 		test.That(t, err.Error(), test.ShouldResemble, "VIAM_CARTO_LIDAR_READING_INVALID")
 
+		// test position should be unchanged by failed attempt to add data
+		position, err = vc.position()
+		test.That(t, err, test.ShouldNotBeNil)
+		test.That(t, err, test.ShouldResemble, errors.New("VIAM_CARTO_GET_POSITION_NOT_INITIALIZED"))
+		test.That(t, position, test.ShouldResemble, Position{})
+
+		// test pointCloudMap should be unchanged by failed attempt to add data
+		pcd, err = vc.pointCloudMap()
+		test.That(t, pcd, test.ShouldBeNil)
+		test.That(t, err, test.ShouldBeError)
+		test.That(t, err, test.ShouldResemble, errors.New("VIAM_CARTO_POINTCLOUD_MAP_EMPTY"))
+
+		// test internalState should be unchanged by failed attempt to add data
+		internalState, err = vc.internalState()
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, internalState, test.ShouldNotBeNil)
+		test.That(t, len(internalState), test.ShouldEqual, len(lastInternalState))
+		lastInternalState = internalState
+
 		confirmBinaryCompressedUnsupported(t)
 
 		// NOTE: This test is very carefully created in order to not hit
@@ -299,7 +342,7 @@ func TestCGoAPIWithoutIMU(t *testing.T) {
 		// test position zeroed
 		position, err = vc.position()
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, position.ComponentReference, test.ShouldEqual, "mylidar")
+		test.That(t, position.ComponentReference, test.ShouldEqual, "my-lidar")
 		positionIsZero(t, position)
 
 		// test pointCloudMap now returns a non empty result
@@ -326,7 +369,7 @@ func TestCGoAPIWithoutIMU(t *testing.T) {
 		// test position, is no longer zeroed
 		position, err = vc.position()
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, position.ComponentReference, test.ShouldEqual, "mylidar")
+		test.That(t, position.ComponentReference, test.ShouldEqual, "my-lidar")
 		test.That(t, position.X, test.ShouldNotEqual, 0)
 		test.That(t, position.Y, test.ShouldNotEqual, 0)
 		test.That(t, position.Z, test.ShouldEqual, 0)
@@ -373,20 +416,15 @@ func TestCGoAPIWithoutIMU(t *testing.T) {
 	})
 }
 
-func TestCGoAPIWithIMU(t *testing.T) {
+func TestCGoAPIWithMovementSensor(t *testing.T) {
 	pvcl, err := NewLib(0, 1)
 
-	reading := s.TimedIMUReadingResponse{
-		LinearAcceleration: r3.Vector{X: 0, Y: 0, Z: 9.8},
-		AngularVelocity:    spatialmath.AngularVelocity{X: 0, Y: 0, Z: 0},
-	}
-
-	t.Run("test state machine with IMU", func(t *testing.T) {
+	t.Run("test state machine with movement sensor", func(t *testing.T) {
 		// initialize viam_carto_lib
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, pvcl, test.ShouldNotBeNil)
 
-		cfg := GetTestConfig("mylidar", "", "", true)
+		cfg := GetTestConfig("my-lidar", "", "", true)
 
 		// test invalid IMU enabling configuration
 		algoCfg := GetTestAlgoConfig(true)
@@ -394,7 +432,7 @@ func TestCGoAPIWithIMU(t *testing.T) {
 		test.That(t, err, test.ShouldResemble, errors.New("VIAM_CARTO_IMU_PROVIDED_AND_IMU_ENABLED_MISMATCH"))
 		test.That(t, vc, test.ShouldNotBeNil)
 
-		cfg = GetTestConfig("mylidar", "myIMU", "", true)
+		cfg = GetTestConfig("my-lidar", "my-movement-sensor", "", true)
 		algoCfg = GetTestAlgoConfig(true)
 		vc, err = NewCarto(cfg, algoCfg, &pvcl)
 
@@ -426,13 +464,57 @@ func TestCGoAPIWithIMU(t *testing.T) {
 		test.That(t, len(internalState), test.ShouldBeGreaterThan, 0)
 		lastInternalState := internalState
 
-		// test invalid addIMUReading: sensor name unknown
+		// test invalid addLidarReading: sensor name unknown
 		timestamp := time.Date(2021, 8, 15, 14, 30, 45, 100, time.UTC)
-		reading.ReadingTime = timestamp
-		err = vc.addIMUReading("not my sensor", reading)
+		lidarReading := s.TimedLidarReadingResponse{
+			Reading:     []byte("he0llo"),
+			ReadingTime: timestamp,
+		}
+		err = vc.addLidarReading("not my sensor", lidarReading)
 		test.That(t, err, test.ShouldBeError)
 		test.That(t, err.Error(), test.ShouldResemble, "VIAM_CARTO_UNKNOWN_SENSOR_NAME")
 
+		// test invalid addIMUReading: sensor name unknown
+		timestamp = time.Date(2021, 8, 15, 14, 30, 45, 100, time.UTC)
+		imuReading := s.TimedIMUReadingResponse{
+			LinearAcceleration: r3.Vector{X: 0, Y: 0, Z: 9.8},
+			AngularVelocity:    spatialmath.AngularVelocity{X: 0, Y: 0, Z: 0},
+			ReadingTime:        timestamp,
+		}
+		err = vc.addIMUReading("not my sensor", imuReading)
+		test.That(t, err, test.ShouldBeError)
+		test.That(t, err.Error(), test.ShouldResemble, "VIAM_CARTO_UNKNOWN_SENSOR_NAME")
+
+		// test invalid addOdometerReading: sensor name unknown
+		timestamp = time.Date(2021, 8, 15, 14, 30, 45, 100, time.UTC)
+		odometerReading := s.TimedOdometerReadingResponse{
+			Position:    geo.NewPoint(4, 5),
+			Orientation: &spatialmath.Quaternion{Real: 0.8, Imag: -0.2, Jmag: 5.6, Kmag: -0.7},
+			ReadingTime: timestamp,
+		}
+		err = vc.addOdometerReading("not my sensor", odometerReading)
+		test.That(t, err, test.ShouldBeError)
+		test.That(t, err.Error(), test.ShouldResemble, "VIAM_CARTO_UNKNOWN_SENSOR_NAME")
+
+		// test position should be unchanged by failed attempt to add data
+		position, err = vc.position()
+		test.That(t, err, test.ShouldNotBeNil)
+		test.That(t, err, test.ShouldResemble, errors.New("VIAM_CARTO_GET_POSITION_NOT_INITIALIZED"))
+		test.That(t, position, test.ShouldResemble, Position{})
+
+		// test pointCloudMap should be unchanged by failed attempt to add data
+		pcd, err = vc.pointCloudMap()
+		test.That(t, pcd, test.ShouldBeNil)
+		test.That(t, err, test.ShouldBeError)
+		test.That(t, err, test.ShouldResemble, errors.New("VIAM_CARTO_POINTCLOUD_MAP_EMPTY"))
+
+		// test internalState should be unchanged by failed attempt to add data
+		internalState, err = vc.internalState()
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, internalState, test.ShouldNotBeNil)
+		test.That(t, len(internalState), test.ShouldEqual, len(lastInternalState))
+		lastInternalState = internalState
+
 		confirmBinaryCompressedUnsupported(t)
 
 		// NOTE: This test is very carefully created in order to not hit
@@ -444,19 +526,29 @@ func TestCGoAPIWithIMU(t *testing.T) {
 
 		// 1. test valid addLidarReading: valid reading ascii
 		tDelta := time.Second * 5
-		imuReadingOffset := time.Millisecond * 5
+		movementSensorReadingOffset := time.Millisecond * 5
 		t.Log("lidar reading 1")
 		timestamp = timestamp.Add(tDelta)
 		testAddLidarReading(t, vc, "viam-cartographer/mock_lidar/0.pcd", timestamp, pointcloud.PCDAscii)
 
-		// test valid addIMUReading with same timestamp
+		// test valid addIMUReading with closely followed timestamp
 		t.Log("IMU reading 1")
 		testIMUReading := s.TimedIMUReadingResponse{
 			LinearAcceleration: r3.Vector{X: 0, Y: 0, Z: 9.8},
 			AngularVelocity:    spatialmath.AngularVelocity{X: 0, Y: 0, Z: 0},
-			ReadingTime:        timestamp.Add(imuReadingOffset),
+			ReadingTime:        timestamp.Add(movementSensorReadingOffset),
 		}
-		err = vc.addIMUReading("myIMU", testIMUReading)
+		err = vc.addIMUReading("my-movement-sensor", testIMUReading)
+		test.That(t, err, test.ShouldBeNil)
+
+		// test valid addOdometerReading with closely followed timestamp
+		t.Log("odometer reading 1")
+		testOdometerReading := s.TimedOdometerReadingResponse{
+			Position:    geo.NewPoint(4, 5),
+			Orientation: &spatialmath.Quaternion{Real: 0.8, Imag: -0.2, Jmag: 5.6, Kmag: -0.7},
+			ReadingTime: timestamp.Add(2 * movementSensorReadingOffset),
+		}
+		err = vc.addOdometerReading("my-movement-sensor", testOdometerReading)
 		test.That(t, err, test.ShouldBeNil)
 
 		// 2. test valid addLidarReading: valid reading binary
@@ -464,14 +556,24 @@ func TestCGoAPIWithIMU(t *testing.T) {
 		timestamp = timestamp.Add(tDelta)
 		testAddLidarReading(t, vc, "viam-cartographer/mock_lidar/1.pcd", timestamp, pointcloud.PCDBinary)
 
-		// test valid addIMUReading with same timestamp
+		// test valid addIMUReading with closely followed timestamp
 		t.Log("IMU reading 2")
 		testIMUReading = s.TimedIMUReadingResponse{
 			LinearAcceleration: r3.Vector{X: 0.1, Y: 0, Z: 9.8},
 			AngularVelocity:    spatialmath.AngularVelocity{X: 0, Y: -0.2, Z: 0},
-			ReadingTime:        timestamp.Add(imuReadingOffset),
+			ReadingTime:        timestamp.Add(movementSensorReadingOffset),
+		}
+		err = vc.addIMUReading("my-movement-sensor", testIMUReading)
+		test.That(t, err, test.ShouldBeNil)
+
+		// test valid addOdometerReading with closely followed timestamp
+		t.Log("odometer reading 2")
+		testOdometerReading = s.TimedOdometerReadingResponse{
+			Position:    geo.NewPoint(5, 6),
+			Orientation: &spatialmath.Quaternion{Real: 0.7, Imag: -0.1, Jmag: 5.4, Kmag: -0.8},
+			ReadingTime: timestamp.Add(2 * movementSensorReadingOffset),
 		}
-		err = vc.addIMUReading("myIMU", testIMUReading)
+		err = vc.addOdometerReading("my-movement-sensor", testOdometerReading)
 		test.That(t, err, test.ShouldBeNil)
 
 		// third sensor reading populates the pointcloud map and the position
@@ -479,20 +581,30 @@ func TestCGoAPIWithIMU(t *testing.T) {
 		timestamp = timestamp.Add(tDelta)
 		testAddLidarReading(t, vc, "viam-cartographer/mock_lidar/2.pcd", timestamp, pointcloud.PCDBinary)
 
-		// test valid addIMUReading with same timestamp
+		// test valid addIMUReading with closely followed timestamp
 		t.Log("IMU reading 3")
 		testIMUReading = s.TimedIMUReadingResponse{
 			LinearAcceleration: r3.Vector{X: 0.2, Y: 0, Z: 9.8},
 			AngularVelocity:    spatialmath.AngularVelocity{X: -0.6, Y: 0, Z: 0},
-			ReadingTime:        timestamp.Add(imuReadingOffset),
+			ReadingTime:        timestamp.Add(movementSensorReadingOffset),
 		}
-		err = vc.addIMUReading("myIMU", testIMUReading)
+		err = vc.addIMUReading("my-movement-sensor", testIMUReading)
 		test.That(t, err, test.ShouldBeNil)
 
-		// test position zeroed
+		// test valid addOdometerReading with closely followed timestamp
+		t.Log("odometer reading 3")
+		testOdometerReading = s.TimedOdometerReadingResponse{
+			Position:    geo.NewPoint(6, 7),
+			Orientation: &spatialmath.Quaternion{Real: 0.4, Imag: 0.1, Jmag: 4.4, Kmag: -0.1},
+			ReadingTime: timestamp.Add(2 * movementSensorReadingOffset),
+		}
+		err = vc.addOdometerReading("my-movement-sensor", testOdometerReading)
+		test.That(t, err, test.ShouldBeNil)
+
+		// test position is not zeroed
 		position, err = vc.position()
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, position.ComponentReference, test.ShouldEqual, "mylidar")
+		test.That(t, position.ComponentReference, test.ShouldEqual, "my-lidar")
 		test.That(t, r3.Vector{X: position.X, Y: position.Y, Z: position.Z}, test.ShouldNotResemble, r3.Vector{X: 0, Y: 0, Z: 0})
 
 		// test pointCloudMap returns a non empty result
diff --git a/cartofacade/carto_facade.go b/cartofacade/carto_facade.go
index c38561b5..f508647c 100644
--- a/cartofacade/carto_facade.go
+++ b/cartofacade/carto_facade.go
@@ -15,7 +15,8 @@ import (
 
 var emptyRequestParams = map[RequestParamType]interface{}{}
 
-// ErrUnableToAcquireLock is the error returned from AddLidarReading and/or AddIMUReading when lock can't be acquired.
+// ErrUnableToAcquireLock is the error returned from AddLidarReading, AddIMUReading,
+// and/or AddOdometerReading when lock can't be acquired.
 var ErrUnableToAcquireLock = errors.New("VIAM_CARTO_UNABLE_TO_ACQUIRE_LOCK")
 
 // Initialize calls into the cartofacade C code.
@@ -90,11 +91,11 @@ func (cf *CartoFacade) AddLidarReading(
 func (cf *CartoFacade) AddIMUReading(
 	ctx context.Context,
 	timeout time.Duration,
-	imuName string,
+	movementSensorName string,
 	currentReading s.TimedIMUReadingResponse,
 ) error {
 	requestParams := map[RequestParamType]interface{}{
-		sensor:  imuName,
+		sensor:  movementSensorName,
 		reading: currentReading,
 	}
 
@@ -106,6 +107,26 @@ func (cf *CartoFacade) AddIMUReading(
 	return nil
 }
 
+// AddOdometerReading calls into the cartofacade C code.
+func (cf *CartoFacade) AddOdometerReading(
+	ctx context.Context,
+	timeout time.Duration,
+	movementSensorName string,
+	currentReading s.TimedOdometerReadingResponse,
+) error {
+	requestParams := map[RequestParamType]interface{}{
+		sensor:  movementSensorName,
+		reading: currentReading,
+	}
+
+	_, err := cf.request(ctx, addOdometerReading, requestParams, timeout)
+	if err != nil {
+		return err
+	}
+
+	return nil
+}
+
 // Position calls into the cartofacade C code.
 func (cf *CartoFacade) Position(ctx context.Context, timeout time.Duration) (Position, error) {
 	untyped, err := cf.request(ctx, position, emptyRequestParams, timeout)
@@ -177,6 +198,8 @@ const (
 	addLidarReading
 	// addIMUReading represents the viam_carto_add_imu_reading in c.
 	addIMUReading
+	// addOdometerReading represents the viam_carto_add_odometer_reading in c.
+	addOdometerReading
 	// position represents the viam_carto_get_position call in c.
 	position
 	// internalState represents the viam_carto_get_internal_state call in c.
@@ -260,9 +283,15 @@ type Interface interface {
 	AddIMUReading(
 		ctx context.Context,
 		timeout time.Duration,
-		imuName string,
+		movementSensorName string,
 		currentReading s.TimedIMUReadingResponse,
 	) error
+	AddOdometerReading(
+		ctx context.Context,
+		timeout time.Duration,
+		movementSensorName string,
+		currentReading s.TimedOdometerReadingResponse,
+	) error
 	Position(
 		ctx context.Context,
 		timeout time.Duration,
@@ -320,7 +349,7 @@ func (r *Request) doWork(
 
 		reading, ok := r.requestParams[reading].(s.TimedLidarReadingResponse)
 		if !ok {
-			return nil, errors.New("could not cast inputted reading to type sensors.TimedLidarSensorReadingResponse")
+			return nil, errors.New("could not cast inputted reading to type sensors.TimedLidarReadingResponse")
 		}
 
 		return nil, cf.carto.addLidarReading(lidar, reading)
@@ -332,10 +361,22 @@ func (r *Request) doWork(
 
 		reading, ok := r.requestParams[reading].(s.TimedIMUReadingResponse)
 		if !ok {
-			return nil, errors.New("could not cast inputted reading to type sensors.TimedIMUSensorReadingResponse")
+			return nil, errors.New("could not cast inputted reading to type sensors.TimedIMUReadingResponse")
 		}
 
 		return nil, cf.carto.addIMUReading(imu, reading)
+	case addOdometerReading:
+		odometer, ok := r.requestParams[sensor].(string)
+		if !ok {
+			return nil, errors.New("could not cast inputted odometer name to string")
+		}
+
+		reading, ok := r.requestParams[reading].(s.TimedOdometerReadingResponse)
+		if !ok {
+			return nil, errors.New("could not cast inputted reading to type sensors.TimedOdometerReadingResponse")
+		}
+
+		return nil, cf.carto.addOdometerReading(odometer, reading)
 	case position:
 		return cf.carto.position()
 	case internalState:
diff --git a/cartofacade/carto_facade_mock.go b/cartofacade/carto_facade_mock.go
index 1983ea8e..47a2fe3c 100644
--- a/cartofacade/carto_facade_mock.go
+++ b/cartofacade/carto_facade_mock.go
@@ -62,9 +62,15 @@ type Mock struct {
 	AddIMUReadingFunc func(
 		ctx context.Context,
 		timeout time.Duration,
-		imuName string,
+		movementSensorName string,
 		currentReading s.TimedIMUReadingResponse,
 	) error
+	AddOdometerReadingFunc func(
+		ctx context.Context,
+		timeout time.Duration,
+		movementSensorName string,
+		currentReading s.TimedOdometerReadingResponse,
+	) error
 	PositionFunc func(
 		ctx context.Context,
 		timeout time.Duration,
@@ -165,13 +171,26 @@ func (cf *Mock) AddLidarReading(
 func (cf *Mock) AddIMUReading(
 	ctx context.Context,
 	timeout time.Duration,
-	imuName string,
+	movementSensorName string,
 	currentReading s.TimedIMUReadingResponse,
 ) error {
 	if cf.AddIMUReadingFunc == nil {
-		return cf.CartoFacade.AddIMUReading(ctx, timeout, imuName, currentReading)
+		return cf.CartoFacade.AddIMUReading(ctx, timeout, movementSensorName, currentReading)
+	}
+	return cf.AddIMUReadingFunc(ctx, timeout, movementSensorName, currentReading)
+}
+
+// AddOdometerReading calls the injected AddOdometerReadingFunc or the real version.
+func (cf *Mock) AddOdometerReading(
+	ctx context.Context,
+	timeout time.Duration,
+	movementSensorName string,
+	currentReading s.TimedOdometerReadingResponse,
+) error {
+	if cf.AddOdometerReadingFunc == nil {
+		return cf.CartoFacade.AddOdometerReading(ctx, timeout, movementSensorName, currentReading)
 	}
-	return cf.AddIMUReadingFunc(ctx, timeout, imuName, currentReading)
+	return cf.AddOdometerReadingFunc(ctx, timeout, movementSensorName, currentReading)
 }
 
 // Position calls the injected PositionFunc or the real version.
diff --git a/cartofacade/carto_facade_test.go b/cartofacade/carto_facade_test.go
index a1cc474f..ab9ab096 100644
--- a/cartofacade/carto_facade_test.go
+++ b/cartofacade/carto_facade_test.go
@@ -11,6 +11,7 @@ import (
 	"time"
 
 	"github.com/golang/geo/r3"
+	geo "github.com/kellydunn/golang-geo"
 	"go.uber.org/multierr"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/spatialmath"
@@ -32,7 +33,7 @@ func TestRequest(t *testing.T) {
 		cancelCtx, cancelFunc := context.WithCancel(context.Background())
 		activeBackgroundWorkers := sync.WaitGroup{}
 
-		cfg := GetTestConfig("mysensor", "", "", true)
+		cfg := GetTestConfig("my-lidar", "", "", true)
 		algoCfg := GetTestAlgoConfig(false)
 
 		carto := CartoMock{}
@@ -56,7 +57,7 @@ func TestRequest(t *testing.T) {
 		cancelCtx, cancelFunc := context.WithCancel(context.Background())
 		activeBackgroundWorkers := sync.WaitGroup{}
 
-		cfg := GetTestConfig("mysensor", "", "", true)
+		cfg := GetTestConfig("my-lidar", "", "", true)
 		algoCfg := GetTestAlgoConfig(false)
 		carto := CartoMock{}
 
@@ -79,7 +80,7 @@ func TestRequest(t *testing.T) {
 		cancelCtx, cancelFunc := context.WithCancel(context.Background())
 		activeBackgroundWorkers := sync.WaitGroup{}
 
-		cfg := GetTestConfig("mysensor", "", "", true)
+		cfg := GetTestConfig("my-lidar", "", "", true)
 		algoCfg := GetTestAlgoConfig(false)
 		carto := CartoMock{}
 
@@ -104,7 +105,7 @@ func TestRequest(t *testing.T) {
 		cancelCtx, cancelFunc := context.WithCancel(context.Background())
 		activeBackgroundWorkers := sync.WaitGroup{}
 
-		cfg := GetTestConfig("mysensor", "", "", true)
+		cfg := GetTestConfig("my-lidar", "", "", true)
 		algoCfg := GetTestAlgoConfig(false)
 		carto := CartoMock{}
 
@@ -137,7 +138,7 @@ func TestInitialize(t *testing.T) {
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
 	activeBackgroundWorkers := sync.WaitGroup{}
 
-	cfg := GetTestConfig("mysensor", "", "", true)
+	cfg := GetTestConfig("my-lidar", "", "", true)
 	algoCfg := GetTestAlgoConfig(false)
 
 	cartoFacade := New(&lib, cfg, algoCfg)
@@ -162,7 +163,7 @@ func TestStart(t *testing.T) {
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
 	activeBackgroundWorkers := sync.WaitGroup{}
 
-	cfg := GetTestConfig("mysensor", "", "", true)
+	cfg := GetTestConfig("my-lidar", "", "", true)
 	algoCfg := GetTestAlgoConfig(false)
 
 	cartoFacade := New(&lib, cfg, algoCfg)
@@ -209,7 +210,7 @@ func TestStop(t *testing.T) {
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
 	activeBackgroundWorkers := sync.WaitGroup{}
 
-	cfg := GetTestConfig("mysensor", "", "", true)
+	cfg := GetTestConfig("my-lidar", "", "", true)
 	algoCfg := GetTestAlgoConfig(false)
 
 	cartoFacade := New(&lib, cfg, algoCfg)
@@ -256,7 +257,7 @@ func TestTerminate(t *testing.T) {
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
 	activeBackgroundWorkers := sync.WaitGroup{}
 
-	cfg := GetTestConfig("mysensor", "", "", true)
+	cfg := GetTestConfig("my-lidar", "", "", true)
 	algoCfg := GetTestAlgoConfig(false)
 
 	cartoFacade := New(&lib, cfg, algoCfg)
@@ -303,7 +304,7 @@ func TestAddLidarReading(t *testing.T) {
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
 	activeBackgroundWorkers := sync.WaitGroup{}
 
-	cfg := GetTestConfig("mysensor", "", "", true)
+	cfg := GetTestConfig("my-lidar", "", "", true)
 	algoCfg := GetTestAlgoConfig(false)
 
 	cartoFacade := New(&lib, cfg, algoCfg)
@@ -329,7 +330,7 @@ func TestAddLidarReading(t *testing.T) {
 		carto.AddLidarReadingFunc = func(name string, reading s.TimedLidarReadingResponse) error {
 			return nil
 		}
-		err = cartoFacade.AddLidarReading(cancelCtx, 5*time.Second, "mysensor", reading)
+		err = cartoFacade.AddLidarReading(cancelCtx, 5*time.Second, "my-lidar", reading)
 		test.That(t, err, test.ShouldBeNil)
 	})
 
@@ -338,7 +339,7 @@ func TestAddLidarReading(t *testing.T) {
 		carto.AddLidarReadingFunc = func(name string, reading s.TimedLidarReadingResponse) error {
 			return expectedErr
 		}
-		err = cartoFacade.AddLidarReading(cancelCtx, 5*time.Second, "mysensor", reading)
+		err = cartoFacade.AddLidarReading(cancelCtx, 5*time.Second, "my-lidar", reading)
 		test.That(t, err, test.ShouldBeError)
 		test.That(t, err, test.ShouldResemble, expectedErr)
 	})
@@ -348,7 +349,7 @@ func TestAddLidarReading(t *testing.T) {
 			time.Sleep(50 * time.Millisecond)
 			return nil
 		}
-		err = cartoFacade.AddLidarReading(cancelCtx, 1*time.Millisecond, "mysensor", reading)
+		err = cartoFacade.AddLidarReading(cancelCtx, 1*time.Millisecond, "my-lidar", reading)
 		test.That(t, err, test.ShouldBeError)
 		expectedErr := multierr.Combine(errors.New(timeoutErrMessage), context.DeadlineExceeded)
 		test.That(t, err, test.ShouldResemble, expectedErr)
@@ -364,7 +365,7 @@ func TestAddIMUReading(t *testing.T) {
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
 	activeBackgroundWorkers := sync.WaitGroup{}
 
-	cfg := GetTestConfig("mylidar", "myIMU", "", true)
+	cfg := GetTestConfig("my-lidar", "my-movement-sensor", "", true)
 	algoCfg := GetTestAlgoConfig(true)
 
 	cartoFacade := New(&lib, cfg, algoCfg)
@@ -382,7 +383,7 @@ func TestAddIMUReading(t *testing.T) {
 		carto.AddIMUReadingFunc = func(name string, reading s.TimedIMUReadingResponse) error {
 			return nil
 		}
-		err := cartoFacade.AddIMUReading(cancelCtx, 5*time.Second, "myIMU", testIMUReading)
+		err := cartoFacade.AddIMUReading(cancelCtx, 5*time.Second, "my-movement-sensor", testIMUReading)
 		test.That(t, err, test.ShouldBeNil)
 	})
 
@@ -391,7 +392,7 @@ func TestAddIMUReading(t *testing.T) {
 		carto.AddIMUReadingFunc = func(name string, reading s.TimedIMUReadingResponse) error {
 			return expectedErr
 		}
-		err := cartoFacade.AddIMUReading(cancelCtx, 5*time.Second, "myIMU", testIMUReading)
+		err := cartoFacade.AddIMUReading(cancelCtx, 5*time.Second, "my-movement-sensor", testIMUReading)
 		test.That(t, err, test.ShouldBeError)
 		test.That(t, err, test.ShouldResemble, expectedErr)
 	})
@@ -401,7 +402,61 @@ func TestAddIMUReading(t *testing.T) {
 			time.Sleep(50 * time.Millisecond)
 			return nil
 		}
-		err := cartoFacade.AddIMUReading(cancelCtx, 1*time.Millisecond, "myIMU", testIMUReading)
+		err := cartoFacade.AddIMUReading(cancelCtx, 1*time.Millisecond, "my-movement-sensor", testIMUReading)
+		test.That(t, err, test.ShouldBeError)
+		expectedErr := multierr.Combine(errors.New(timeoutErrMessage), context.DeadlineExceeded)
+		test.That(t, err, test.ShouldResemble, expectedErr)
+	})
+
+	cancelFunc()
+	activeBackgroundWorkers.Wait()
+}
+
+func TestAddOdometerReading(t *testing.T) {
+	lib := CartoLibMock{}
+
+	cancelCtx, cancelFunc := context.WithCancel(context.Background())
+	activeBackgroundWorkers := sync.WaitGroup{}
+
+	cfg := GetTestConfig("my-lidar", "my-movement-sensor", "", true)
+	algoCfg := GetTestAlgoConfig(true)
+
+	cartoFacade := New(&lib, cfg, algoCfg)
+	carto := CartoMock{}
+	cartoFacade.carto = &carto
+	cartoFacade.startCGoroutine(cancelCtx, &activeBackgroundWorkers)
+
+	timestamp := time.Date(2021, 8, 15, 14, 30, 45, 100, time.UTC)
+	testOdometerReading := s.TimedOdometerReadingResponse{
+		Position:    geo.NewPoint(4, 5),
+		Orientation: &spatialmath.Quaternion{Real: 0.8, Imag: -0.2, Jmag: 5.6, Kmag: -0.7},
+		ReadingTime: timestamp,
+	}
+
+	t.Run("success", func(t *testing.T) {
+		carto.AddOdometerReadingFunc = func(name string, reading s.TimedOdometerReadingResponse) error {
+			return nil
+		}
+		err := cartoFacade.AddOdometerReading(cancelCtx, 5*time.Second, "my-movement-sensor", testOdometerReading)
+		test.That(t, err, test.ShouldBeNil)
+	})
+
+	t.Run("failure", func(t *testing.T) {
+		expectedErr := errors.New("AddOdometerReading failed")
+		carto.AddOdometerReadingFunc = func(name string, reading s.TimedOdometerReadingResponse) error {
+			return expectedErr
+		}
+		err := cartoFacade.AddOdometerReading(cancelCtx, 5*time.Second, "my-movement-sensor", testOdometerReading)
+		test.That(t, err, test.ShouldBeError)
+		test.That(t, err, test.ShouldResemble, expectedErr)
+	})
+
+	t.Run("failure due to time out", func(t *testing.T) {
+		carto.AddOdometerReadingFunc = func(name string, reading s.TimedOdometerReadingResponse) error {
+			time.Sleep(50 * time.Millisecond)
+			return nil
+		}
+		err := cartoFacade.AddOdometerReading(cancelCtx, 1*time.Millisecond, "my-movement-sensor", testOdometerReading)
 		test.That(t, err, test.ShouldBeError)
 		expectedErr := multierr.Combine(errors.New(timeoutErrMessage), context.DeadlineExceeded)
 		test.That(t, err, test.ShouldResemble, expectedErr)
@@ -417,7 +472,7 @@ func TestPosition(t *testing.T) {
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
 	activeBackgroundWorkers := sync.WaitGroup{}
 
-	cfg := GetTestConfig("mysensor", "", "", true)
+	cfg := GetTestConfig("my-lidar", "", "", true)
 	algoCfg := GetTestAlgoConfig(false)
 
 	cartoFacade := New(&lib, cfg, algoCfg)
@@ -468,7 +523,7 @@ func TestInternalState(t *testing.T) {
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
 	activeBackgroundWorkers := sync.WaitGroup{}
 
-	cfg := GetTestConfig("mysensor", "", "", true)
+	cfg := GetTestConfig("my-lidar", "", "", true)
 	algoCfg := GetTestAlgoConfig(false)
 
 	cartoFacade := New(&lib, cfg, algoCfg)
@@ -517,7 +572,7 @@ func TestPointCloudMap(t *testing.T) {
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
 	activeBackgroundWorkers := sync.WaitGroup{}
 
-	cfg := GetTestConfig("mysensor", "", "", true)
+	cfg := GetTestConfig("my-lidar", "", "", true)
 	algoCfg := GetTestAlgoConfig(false)
 
 	cartoFacade := New(&lib, cfg, algoCfg)
@@ -566,7 +621,7 @@ func TestRunFinalOptimization(t *testing.T) {
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
 	activeBackgroundWorkers := sync.WaitGroup{}
 
-	cfg := GetTestConfig("mysensor", "", "", true)
+	cfg := GetTestConfig("my-lidar", "", "", true)
 	algoCfg := GetTestAlgoConfig(false)
 
 	cartoFacade := New(&lib, cfg, algoCfg)
diff --git a/go.mod b/go.mod
index b3abd1df..485b88cb 100644
--- a/go.mod
+++ b/go.mod
@@ -11,21 +11,21 @@ require (
 	github.com/rhysd/actionlint v1.6.24
 	go.opencensus.io v0.24.0
 	go.uber.org/multierr v1.11.0
-	go.uber.org/zap v1.24.0
-	go.viam.com/api v0.1.223
-	go.viam.com/rdk v0.13.0
+	go.uber.org/zap v1.26.0
+	go.viam.com/api v0.1.235
+	go.viam.com/rdk v0.15.1
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
-	go.viam.com/utils v0.1.52
+	go.viam.com/utils v0.1.54
 )
 
 require (
 	4d63.com/gocheckcompilerdirectives v1.2.1 // indirect
 	4d63.com/gochecknoglobals v0.2.1 // indirect
-	cloud.google.com/go v0.110.4 // indirect
-	cloud.google.com/go/compute v1.21.0 // indirect
+	cloud.google.com/go v0.111.0 // indirect
+	cloud.google.com/go/compute v1.23.3 // indirect
 	cloud.google.com/go/compute/metadata v0.2.3 // indirect
-	cloud.google.com/go/iam v1.1.1 // indirect
-	cloud.google.com/go/storage v1.30.1 // indirect
+	cloud.google.com/go/iam v1.1.5 // indirect
+	cloud.google.com/go/storage v1.35.1 // indirect
 	git.sr.ht/~sbinet/gg v0.5.0 // indirect
 	github.com/Abirdcfly/dupword v0.0.9 // indirect
 	github.com/Antonboom/errname v0.1.7 // indirect
@@ -37,10 +37,10 @@ require (
 	github.com/OpenPeeDeeP/depguard v1.1.1 // indirect
 	github.com/a8m/envsubst v1.4.2 // indirect
 	github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect
-	github.com/alecthomas/participle/v2 v2.0.0 // indirect
+	github.com/alecthomas/participle/v2 v2.1.1 // indirect
 	github.com/alexkohler/prealloc v1.0.0 // indirect
 	github.com/alingse/asasalint v0.0.11 // indirect
-	github.com/apache/arrow/go/arrow v0.0.0-20201229220542-30ce2eb5d4dc // indirect
+	github.com/apache/arrow/go/arrow v0.0.0-20211112161151-bc219186db40 // indirect
 	github.com/ashanbrown/forbidigo v1.4.0 // indirect
 	github.com/ashanbrown/makezero v1.1.1 // indirect
 	github.com/aybabtme/uniplot v0.0.0-20151203143629-039c559e5e7e // indirect
@@ -48,12 +48,12 @@ require (
 	github.com/beorn7/perks v1.0.1 // indirect
 	github.com/bep/debounce v1.2.1 // indirect
 	github.com/bkielbasa/cyclop v1.2.0 // indirect
-	github.com/blackjack/webcam v0.0.0-20230509180125-87693b3f29dc // indirect
+	github.com/blackjack/webcam v0.5.0 // indirect
 	github.com/blizzy78/varnamelen v0.8.0 // indirect
 	github.com/bombsimon/wsl/v3 v3.4.0 // indirect
 	github.com/breml/bidichk v0.2.3 // indirect
 	github.com/breml/errchkjson v0.3.0 // indirect
-	github.com/bufbuild/protocompile v0.5.1 // indirect
+	github.com/bufbuild/protocompile v0.7.1 // indirect
 	github.com/butuzov/ireturn v0.1.1 // indirect
 	github.com/campoy/embedmd v1.0.0 // indirect
 	github.com/cenkalti/backoff v2.2.1+incompatible // indirect
@@ -62,7 +62,7 @@ require (
 	github.com/charithe/durationcheck v0.0.9 // indirect
 	github.com/chavacava/garif v0.0.0-20221024190013-b3ef35877348 // indirect
 	github.com/chewxy/hm v1.0.0 // indirect
-	github.com/chewxy/math32 v1.0.8 // indirect
+	github.com/chewxy/math32 v1.10.1 // indirect
 	github.com/curioswitch/go-reassign v0.2.0 // indirect
 	github.com/daixiang0/gci v0.9.1 // indirect
 	github.com/davecgh/go-spew v1.1.1 // indirect
@@ -83,7 +83,7 @@ require (
 	github.com/fatih/structtag v1.2.0 // indirect
 	github.com/firefart/nonamedreturns v1.0.4 // indirect
 	github.com/fogleman/gg v1.3.0 // indirect
-	github.com/fsnotify/fsnotify v1.6.0 // indirect
+	github.com/fsnotify/fsnotify v1.7.0 // indirect
 	github.com/fullstorydev/grpcurl v1.8.6 // indirect
 	github.com/fzipp/gocyclo v0.6.0 // indirect
 	github.com/gen2brain/malgo v0.11.10 // indirect
@@ -92,11 +92,13 @@ require (
 	github.com/go-audio/transforms v0.0.0-20180121090939-51830ccc35a5 // indirect
 	github.com/go-audio/wav v1.1.0 // indirect
 	github.com/go-critic/go-critic v0.6.7 // indirect
-	github.com/go-fonts/liberation v0.3.1 // indirect
-	github.com/go-gl/mathgl v1.0.0 // indirect
-	github.com/go-latex/latex v0.0.0-20230307184459-12ec69307ad9 // indirect
+	github.com/go-fonts/liberation v0.3.2 // indirect
+	github.com/go-gl/mathgl v1.1.0 // indirect
+	github.com/go-latex/latex v0.0.0-20231108140139-5c1ce85aa4ea // indirect
+	github.com/go-logr/logr v1.3.0 // indirect
+	github.com/go-logr/stdr v1.2.2 // indirect
 	github.com/go-nlopt/nlopt v0.0.0-20230219125344-443d3362dcb5 // indirect
-	github.com/go-pdf/fpdf v0.8.0 // indirect
+	github.com/go-pdf/fpdf v0.9.0 // indirect
 	github.com/go-toolsmith/astcast v1.1.0 // indirect
 	github.com/go-toolsmith/astcopy v1.0.3 // indirect
 	github.com/go-toolsmith/astequal v1.1.0 // indirect
@@ -124,20 +126,20 @@ require (
 	github.com/golangci/revgrep v0.0.0-20220804021717-745bb2f7c2e6 // indirect
 	github.com/golangci/unconvert v0.0.0-20180507085042-28b1c447d1f4 // indirect
 	github.com/gonuts/binary v0.2.0 // indirect
-	github.com/google/flatbuffers v2.0.6+incompatible // indirect
-	github.com/google/go-cmp v0.5.9 // indirect
-	github.com/google/s2a-go v0.1.4 // indirect
-	github.com/google/uuid v1.3.1 // indirect
-	github.com/googleapis/enterprise-certificate-proxy v0.2.5 // indirect
-	github.com/googleapis/gax-go/v2 v2.11.0 // indirect
+	github.com/google/flatbuffers v23.5.26+incompatible // indirect
+	github.com/google/go-cmp v0.6.0 // indirect
+	github.com/google/s2a-go v0.1.7 // indirect
+	github.com/google/uuid v1.4.0 // indirect
+	github.com/googleapis/enterprise-certificate-proxy v0.3.2 // indirect
+	github.com/googleapis/gax-go/v2 v2.12.0 // indirect
 	github.com/gordonklaus/ineffassign v0.0.0-20230107090616-13ace0543b28 // indirect
-	github.com/gorilla/securecookie v1.1.1 // indirect
+	github.com/gorilla/securecookie v1.1.2 // indirect
 	github.com/gostaticanalysis/analysisutil v0.7.1 // indirect
 	github.com/gostaticanalysis/comment v1.4.2 // indirect
 	github.com/gostaticanalysis/forcetypeassert v0.1.0 // indirect
 	github.com/gostaticanalysis/nilerr v0.1.1 // indirect
 	github.com/grpc-ecosystem/go-grpc-middleware v1.4.0 // indirect
-	github.com/grpc-ecosystem/grpc-gateway/v2 v2.16.0 // indirect
+	github.com/grpc-ecosystem/grpc-gateway/v2 v2.18.1 // indirect
 	github.com/hashicorp/errwrap v1.1.0 // indirect
 	github.com/hashicorp/go-multierror v1.1.1 // indirect
 	github.com/hashicorp/go-version v1.6.0 // indirect
@@ -145,9 +147,9 @@ require (
 	github.com/hexops/gotextdiff v1.0.3 // indirect
 	github.com/improbable-eng/grpc-web v0.15.0 // indirect
 	github.com/inconshreveable/mousetrap v1.0.1 // indirect
-	github.com/jedib0t/go-pretty/v6 v6.4.6 // indirect
+	github.com/jedib0t/go-pretty/v6 v6.4.9 // indirect
 	github.com/jgautheron/goconst v1.5.1 // indirect
-	github.com/jhump/protoreflect v1.15.1 // indirect
+	github.com/jhump/protoreflect v1.15.4 // indirect
 	github.com/jingyugao/rowserrcheck v1.1.1 // indirect
 	github.com/jirfag/go-printf-func-name v0.0.0-20200119135958-7558a9eaa5af // indirect
 	github.com/julz/importas v0.1.0 // indirect
@@ -155,7 +157,7 @@ require (
 	github.com/kisielk/errcheck v1.6.3 // indirect
 	github.com/kisielk/gotool v1.0.0 // indirect
 	github.com/kkHAIKE/contextcheck v1.1.3 // indirect
-	github.com/klauspost/compress v1.16.6 // indirect
+	github.com/klauspost/compress v1.17.4 // indirect
 	github.com/kulti/thelper v0.6.3 // indirect
 	github.com/kunwardeep/paralleltest v1.0.6 // indirect
 	github.com/kylelemons/go-gypsy v1.0.0 // indirect
@@ -164,10 +166,10 @@ require (
 	github.com/ldez/tagliatelle v0.4.0 // indirect
 	github.com/leonklingele/grouper v1.1.1 // indirect
 	github.com/lestrrat-go/backoff/v2 v2.0.8 // indirect
-	github.com/lestrrat-go/blackmagic v1.0.1 // indirect
+	github.com/lestrrat-go/blackmagic v1.0.2 // indirect
 	github.com/lestrrat-go/httpcc v1.0.1 // indirect
 	github.com/lestrrat-go/iter v1.0.2 // indirect
-	github.com/lestrrat-go/jwx v1.2.26 // indirect
+	github.com/lestrrat-go/jwx v1.2.27 // indirect
 	github.com/lestrrat-go/option v1.0.1 // indirect
 	github.com/lib/pq v1.10.9 // indirect
 	github.com/lmittmann/ppm v1.0.2 // indirect
@@ -179,11 +181,11 @@ require (
 	github.com/matoous/godox v0.0.0-20210227103229-6504466cf951 // indirect
 	github.com/mattn/go-colorable v0.1.13 // indirect
 	github.com/mattn/go-isatty v0.0.18 // indirect
-	github.com/mattn/go-runewidth v0.0.14 // indirect
+	github.com/mattn/go-runewidth v0.0.15 // indirect
 	github.com/matttproud/golang_protobuf_extensions v1.0.4 // indirect
 	github.com/mbilski/exhaustivestruct v1.2.0 // indirect
 	github.com/mgechev/revive v1.2.5 // indirect
-	github.com/miekg/dns v1.1.55 // indirect
+	github.com/miekg/dns v1.1.57 // indirect
 	github.com/mitchellh/copystructure v1.2.0 // indirect
 	github.com/mitchellh/go-homedir v1.1.0 // indirect
 	github.com/mitchellh/mapstructure v1.5.0 // indirect
@@ -201,22 +203,22 @@ require (
 	github.com/pelletier/go-toml v1.9.5 // indirect
 	github.com/pelletier/go-toml/v2 v2.0.5 // indirect
 	github.com/pion/datachannel v1.5.5 // indirect
-	github.com/pion/dtls/v2 v2.2.7 // indirect
+	github.com/pion/dtls/v2 v2.2.8 // indirect
 	github.com/pion/ice/v2 v2.3.11 // indirect
-	github.com/pion/interceptor v0.1.22 // indirect
+	github.com/pion/interceptor v0.1.25 // indirect
 	github.com/pion/logging v0.2.2 // indirect
-	github.com/pion/mdns v0.0.8 // indirect
-	github.com/pion/mediadevices v0.5.1-0.20231017204133-3c9fee958efe // indirect
+	github.com/pion/mdns v0.0.9 // indirect
+	github.com/pion/mediadevices v0.6.0 // indirect
 	github.com/pion/randutil v0.1.0 // indirect
-	github.com/pion/rtcp v1.2.10 // indirect
-	github.com/pion/rtp v1.8.2 // indirect
-	github.com/pion/sctp v1.8.8 // indirect
+	github.com/pion/rtcp v1.2.12 // indirect
+	github.com/pion/rtp v1.8.3 // indirect
+	github.com/pion/sctp v1.8.9 // indirect
 	github.com/pion/sdp/v3 v3.0.6 // indirect
-	github.com/pion/srtp/v2 v2.0.17 // indirect
+	github.com/pion/srtp/v2 v2.0.18 // indirect
 	github.com/pion/stun v0.6.1 // indirect
-	github.com/pion/transport/v2 v2.2.3 // indirect
-	github.com/pion/turn/v2 v2.1.3 // indirect
-	github.com/pion/webrtc/v3 v3.2.21 // indirect
+	github.com/pion/transport/v2 v2.2.4 // indirect
+	github.com/pion/turn/v2 v2.1.4 // indirect
+	github.com/pion/webrtc/v3 v3.2.23 // indirect
 	github.com/pmezard/go-difflib v1.0.0 // indirect
 	github.com/polyfloyd/go-errorlint v1.1.0 // indirect
 	github.com/prometheus/client_golang v1.12.2 // indirect
@@ -229,7 +231,7 @@ require (
 	github.com/quasilyte/stdinfo v0.0.0-20220114132959-f7386bf02567 // indirect
 	github.com/rivo/uniseg v0.4.4 // indirect
 	github.com/robfig/cron v1.2.0 // indirect
-	github.com/rs/cors v1.9.0 // indirect
+	github.com/rs/cors v1.10.1 // indirect
 	github.com/ryancurrah/gomodguard v1.3.0 // indirect
 	github.com/ryanrolds/sqlclosecheck v0.4.0 // indirect
 	github.com/sanposhiho/wastedassign/v2 v2.0.7 // indirect
@@ -238,7 +240,7 @@ require (
 	github.com/securego/gosec/v2 v2.15.0 // indirect
 	github.com/sergi/go-diff v1.3.1 // indirect
 	github.com/shazow/go-diff v0.0.0-20160112020656-b6b7b6733b8c // indirect
-	github.com/sirupsen/logrus v1.9.0 // indirect
+	github.com/sirupsen/logrus v1.9.3 // indirect
 	github.com/sivchari/containedctx v1.0.2 // indirect
 	github.com/sivchari/nosnakecase v1.7.0 // indirect
 	github.com/sivchari/tenv v1.7.1 // indirect
@@ -276,36 +278,40 @@ require (
 	github.com/yagipy/maintidx v1.0.0 // indirect
 	github.com/yeya24/promlinter v0.2.0 // indirect
 	github.com/youmark/pkcs8 v0.0.0-20201027041543-1326539a0a0a // indirect
-	github.com/zitadel/oidc v1.13.4 // indirect
+	github.com/zitadel/oidc v1.13.5 // indirect
 	github.com/ziutek/mymysql v1.5.4 // indirect
 	gitlab.com/bosi/decorder v0.2.3 // indirect
-	go-hep.org/x/hep v0.33.0 // indirect
-	go.mongodb.org/mongo-driver v1.12.0-prerelease.0.20221109213319-d3466eeae7a7 // indirect
+	go-hep.org/x/hep v0.34.1 // indirect
+	go.mongodb.org/mongo-driver v1.13.1 // indirect
+	go.opentelemetry.io/otel v1.21.0 // indirect
+	go.opentelemetry.io/otel/metric v1.21.0 // indirect
+	go.opentelemetry.io/otel/trace v1.21.0 // indirect
 	go.uber.org/atomic v1.11.0 // indirect
 	go.uber.org/goleak v1.2.1 // indirect
-	go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 // indirect
+	go4.org/unsafe/assume-no-moving-gc v0.0.0-20231121144256-b99613f794b6 // indirect
 	goji.io v2.0.2+incompatible // indirect
-	golang.org/x/crypto v0.14.0 // indirect
-	golang.org/x/exp v0.0.0-20230522175609-2e198f4a06a1 // indirect
+	golang.org/x/crypto v0.16.0 // indirect
+	golang.org/x/exp v0.0.0-20231206192017-f3f8817b8deb // indirect
 	golang.org/x/exp/typeparams v0.0.0-20230203172020-98cc5a0785f9 // indirect
-	golang.org/x/image v0.12.0 // indirect
-	golang.org/x/mod v0.11.0 // indirect
-	golang.org/x/net v0.17.0 // indirect
-	golang.org/x/oauth2 v0.10.0 // indirect
-	golang.org/x/sync v0.3.0 // indirect
-	golang.org/x/sys v0.13.0 // indirect
-	golang.org/x/text v0.13.0 // indirect
-	golang.org/x/tools v0.10.0 // indirect
-	golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 // indirect
-	gonum.org/v1/gonum v0.13.0 // indirect
-	gonum.org/v1/plot v0.13.0 // indirect
-	google.golang.org/api v0.128.0 // indirect
-	google.golang.org/appengine v1.6.7 // indirect
-	google.golang.org/genproto v0.0.0-20230711160842-782d3b101e98 // indirect
-	google.golang.org/genproto/googleapis/api v0.0.0-20230711160842-782d3b101e98 // indirect
-	google.golang.org/genproto/googleapis/rpc v0.0.0-20230711160842-782d3b101e98 // indirect
-	google.golang.org/grpc v1.58.3 // indirect
-	google.golang.org/protobuf v1.31.0 // indirect
+	golang.org/x/image v0.14.0 // indirect
+	golang.org/x/mod v0.14.0 // indirect
+	golang.org/x/net v0.19.0 // indirect
+	golang.org/x/oauth2 v0.15.0 // indirect
+	golang.org/x/sync v0.5.0 // indirect
+	golang.org/x/sys v0.15.0 // indirect
+	golang.org/x/text v0.14.0 // indirect
+	golang.org/x/time v0.5.0 // indirect
+	golang.org/x/tools v0.16.0 // indirect
+	golang.org/x/xerrors v0.0.0-20231012003039-104605ab7028 // indirect
+	gonum.org/v1/gonum v0.14.0 // indirect
+	gonum.org/v1/plot v0.14.0 // indirect
+	google.golang.org/api v0.153.0 // indirect
+	google.golang.org/appengine v1.6.8 // indirect
+	google.golang.org/genproto v0.0.0-20231127180814-3a041ad873d4 // indirect
+	google.golang.org/genproto/googleapis/api v0.0.0-20231127180814-3a041ad873d4 // indirect
+	google.golang.org/genproto/googleapis/rpc v0.0.0-20231127180814-3a041ad873d4 // indirect
+	google.golang.org/grpc v1.59.0 // indirect
+	google.golang.org/protobuf v1.31.1-0.20231027082548-f4a6c1f6e5c1 // indirect
 	gopkg.in/ini.v1 v1.67.0 // indirect
 	gopkg.in/square/go-jose.v2 v2.6.0 // indirect
 	gopkg.in/src-d/go-billy.v4 v4.3.2 // indirect
@@ -319,5 +325,7 @@ require (
 	mvdan.cc/interfacer v0.0.0-20180901003855-c20040233aed // indirect
 	mvdan.cc/lint v0.0.0-20170908181259-adc824a0674b // indirect
 	mvdan.cc/unparam v0.0.0-20221223090309-7455f1af531d // indirect
-	nhooyr.io/websocket v1.8.7 // indirect
+	nhooyr.io/websocket v1.8.10 // indirect
+	periph.io/x/conn/v3 v3.7.0 // indirect
+	periph.io/x/host/v3 v3.8.2 // indirect
 )
diff --git a/go.sum b/go.sum
index 334f4096..f86291f5 100644
--- a/go.sum
+++ b/go.sum
@@ -24,23 +24,23 @@ cloud.google.com/go v0.65.0/go.mod h1:O5N8zS7uWy9vkA9vayVHs65eM1ubvY4h553ofrNHOb
 cloud.google.com/go v0.72.0/go.mod h1:M+5Vjvlc2wnp6tjzE102Dw08nGShTscUx2nZMufOKPI=
 cloud.google.com/go v0.74.0/go.mod h1:VV1xSbzvo+9QJOxLDaJfTjx5e+MePCpCWwvftOeQmWk=
 cloud.google.com/go v0.75.0/go.mod h1:VGuuCn7PG0dwsd5XPVm2Mm3wlh3EL55/79EKB6hlPTY=
-cloud.google.com/go v0.110.4 h1:1JYyxKMN9hd5dR2MYTPWkGUgcoxVVhg0LKNKEo0qvmk=
-cloud.google.com/go v0.110.4/go.mod h1:+EYjdK8e5RME/VY/qLCAtuyALQ9q67dvuum8i+H5xsI=
+cloud.google.com/go v0.111.0 h1:YHLKNupSD1KqjDbQ3+LVdQ81h/UJbJyZG203cEfnQgM=
+cloud.google.com/go v0.111.0/go.mod h1:0mibmpKP1TyOOFYQY5izo0LnT+ecvOQ0Sg3OdmMiNRU=
 cloud.google.com/go/bigquery v1.0.1/go.mod h1:i/xbL2UlR5RvWAURpBYZTtm/cXjCha9lbfbpx4poX+o=
 cloud.google.com/go/bigquery v1.3.0/go.mod h1:PjpwJnslEMmckchkHFfq+HTD2DmtT67aNFKH1/VBDHE=
 cloud.google.com/go/bigquery v1.4.0/go.mod h1:S8dzgnTigyfTmLBfrtrhyYhwRxG72rYxvftPBK2Dvzc=
 cloud.google.com/go/bigquery v1.5.0/go.mod h1:snEHRnqQbz117VIFhE8bmtwIDY80NLUZUMb4Nv6dBIg=
 cloud.google.com/go/bigquery v1.7.0/go.mod h1://okPTzCYNXSlb24MZs83e2Do+h+VXtc4gLoIoXIAPc=
 cloud.google.com/go/bigquery v1.8.0/go.mod h1:J5hqkt3O0uAFnINi6JXValWIb1v0goeZM77hZzJN/fQ=
-cloud.google.com/go/compute v1.21.0 h1:JNBsyXVoOoNJtTQcnEY5uYpZIbeCTYIeDe0Xh1bySMk=
-cloud.google.com/go/compute v1.21.0/go.mod h1:4tCnrn48xsqlwSAiLf1HXMQk8CONslYbdiEZc9FEIbM=
+cloud.google.com/go/compute v1.23.3 h1:6sVlXXBmbd7jNX0Ipq0trII3e4n1/MsADLK6a+aiVlk=
+cloud.google.com/go/compute v1.23.3/go.mod h1:VCgBUoMnIVIR0CscqQiPJLAG25E3ZRZMzcFZeQ+h8CI=
 cloud.google.com/go/compute/metadata v0.2.3 h1:mg4jlk7mCAj6xXp9UJ4fjI9VUI5rubuGBW5aJ7UnBMY=
 cloud.google.com/go/compute/metadata v0.2.3/go.mod h1:VAV5nSsACxMJvgaAuX6Pk2AawlZn8kiOGuCv6gTkwuA=
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@@ -53,11 +53,13 @@ cloud.google.com/go/storage v1.6.0/go.mod h1:N7U0C8pVQ/+NIKOBQyamJIeKQKkZ+mxpohl
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@@ -99,11 +101,12 @@ github.com/adrianmo/go-nmea v1.7.0 h1:ji8IeiuUG+LTpVoUxmLPHr/WuxFvvD2S6lYDfDze5y
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@@ -119,8 +122,8 @@ github.com/andybalholm/brotli v1.0.0/go.mod h1:loMXtMfwqflxFJPmdbJO0a3KNoPuLBgiu
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@@ -158,19 +161,20 @@ github.com/bgentry/speakeasy v0.1.0/go.mod h1:+zsyZBPWlz7T6j88CTgSN5bM796AkVf0kB
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@@ -195,8 +199,8 @@ github.com/chavacava/garif v0.0.0-20221024190013-b3ef35877348/go.mod h1:f/miWtG3
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@@ -206,6 +210,7 @@ github.com/cncf/udpa/go v0.0.0-20191209042840-269d4d468f6f/go.mod h1:M8M6+tZqaGX
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@@ -277,6 +282,8 @@ github.com/envoyproxy/go-control-plane v0.9.1-0.20191026205805-5f8ba28d4473/go.m
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@@ -302,6 +309,7 @@ github.com/fatih/structtag v1.2.0 h1:/OdNE99OxoI/PqaW/SuSK9uxxT3f/tcSZgon/ssNSx4
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@@ -309,8 +317,8 @@ github.com/franela/goreq v0.0.0-20171204163338-bcd34c9993f8/go.mod h1:ZhphrRTfi2
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@@ -320,10 +328,8 @@ github.com/fzipp/gocyclo v0.6.0/go.mod h1:rXPyn8fnlpa0R2csP/31uerbiVBugk5whMdlya
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@@ -336,39 +342,45 @@ github.com/go-critic/go-critic v0.5.4/go.mod h1:cjB4YGw+n/+X8gREApej7150Uyy1Tg8I
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@@ -410,11 +422,8 @@ github.com/goburrow/modbus v0.1.0 h1:DejRZY73nEM6+bt5JSP6IsFolJ9dVcqxsYbpLbeW/ro
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@@ -436,7 +445,6 @@ github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0/go.mod h1:E/TSTwGw
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@@ -472,6 +480,7 @@ github.com/golang/protobuf v1.5.3 h1:KhyjKVUg7Usr/dYsdSqoFveMYd5ko72D+zANwlG1mmg
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@@ -506,9 +515,9 @@ github.com/google/btree v0.0.0-20180813153112-4030bb1f1f0c/go.mod h1:lNA+9X1NB3Z
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@@ -520,10 +529,12 @@ github.com/google/go-cmp v0.5.2/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/
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@@ -541,21 +552,22 @@ github.com/google/pprof v0.0.0-20201023163331-3e6fc7fc9c4c/go.mod h1:kpwsk12EmLe
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@@ -1208,7 +1231,6 @@ github.com/stretchr/objx v0.5.0 h1:1zr/of2m5FGMsad5YfcqgdqdWrIhu+EBEJRhR1U7z/c=
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 github.com/stretchr/testify v1.1.4/go.mod h1:a8OnRcib4nhh0OaRAV+Yts87kKdq0PP7pXfy6kDkUVs=
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@@ -1231,6 +1253,7 @@ github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 h1:UyzmZLoiDWMRywV4DUY
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@@ -1238,8 +1261,6 @@ github.com/tenntenn/text/transform v0.0.0-20200319021203-7eef512accb3/go.mod h1:
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@@ -1260,10 +1281,8 @@ github.com/tommy-muehle/go-mnd/v2 v2.5.1 h1:NowYhSdyE/1zwK9QCLeRb6USWdoif80Ie+v+
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@@ -1286,10 +1305,8 @@ github.com/viki-org/dnscache v0.0.0-20130720023526-c70c1f23c5d8/go.mod h1:dniwbG
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@@ -1315,22 +1332,22 @@ github.com/yuin/goldmark v1.2.1/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9dec
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-go-hep.org/x/hep v0.33.0 h1:L9USQj5F6vIrnLMrOKk+kM0NsPxm3Jzw3Ln92SxihQQ=
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-go.mongodb.org/mongo-driver v1.12.0-prerelease.0.20221109213319-d3466eeae7a7 h1:41yUZ1vfJiLeNVNhPVY+aJ0uUJMTxB4MDBdEx22IaFw=
-go.mongodb.org/mongo-driver v1.12.0-prerelease.0.20221109213319-d3466eeae7a7/go.mod h1:s7p5vEtfbeR1gYi6pnj3c3/urpbLv2T5Sfd6Rp2HBB8=
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@@ -1342,6 +1359,13 @@ go.opencensus.io v0.22.4/go.mod h1:yxeiOL68Rb0Xd1ddK5vPZ/oVn4vY4Ynel7k9FzqtOIw=
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@@ -1364,18 +1388,18 @@ go.uber.org/zap v1.10.0/go.mod h1:vwi/ZaCAaUcBkycHslxD9B2zi4UTXhF60s6SWpuDF0Q=
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@@ -1395,20 +1419,23 @@ golang.org/x/crypto v0.0.0-20210220033148-5ea612d1eb83/go.mod h1:jdWPYTVW3xRLrWP
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@@ -1416,18 +1443,25 @@ golang.org/x/exp v0.0.0-20200119233911-0405dc783f0a/go.mod h1:2RIsYlXP63K8oxa1u0
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@@ -1439,6 +1473,7 @@ golang.org/x/lint v0.0.0-20191125180803-fdd1cda4f05f/go.mod h1:5qLYkcX4OjUUV8bRu
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@@ -1456,8 +1491,8 @@ golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4/go.mod h1:jJ57K6gSWd91
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@@ -1497,7 +1532,6 @@ golang.org/x/net v0.0.0-20200602114024-627f9648deb9/go.mod h1:qpuaurCH72eLCgpAm/
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@@ -1509,6 +1543,7 @@ golang.org/x/net v0.0.0-20210405180319-a5a99cb37ef4/go.mod h1:p54w0d4576C0XHj96b
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@@ -1525,8 +1560,9 @@ golang.org/x/net v0.10.0/go.mod h1:0qNGK6F8kojg2nk9dLZ2mShWaEBan6FAoqfSigmmuDg=
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@@ -1538,8 +1574,8 @@ golang.org/x/oauth2 v0.0.0-20201208152858-08078c50e5b5/go.mod h1:KelEdhl1UZF7XfJ
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@@ -1554,8 +1590,8 @@ golang.org/x/sync v0.0.0-20201207232520-09787c993a3a/go.mod h1:RxMgew5VJxzue5/jJ
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-golang.org/x/sync v0.3.0/go.mod h1:FU7BRWz2tNW+3quACPkgCx/L+uEAv1htQ0V83Z9Rj+Y=
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 golang.org/x/sys v0.0.0-20180823144017-11551d06cbcc/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
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@@ -1607,7 +1643,6 @@ golang.org/x/sys v0.0.0-20200615200032-f1bc736245b1/go.mod h1:h1NjWce9XRLGQEsW7w
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 golang.org/x/sys v0.0.0-20200905004654-be1d3432aa8f/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
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 golang.org/x/sys v0.0.0-20200930185726-fdedc70b468f/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20201024232916-9f70ab9862d5/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
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@@ -1620,12 +1655,14 @@ golang.org/x/sys v0.0.0-20210217105451-b926d437f341/go.mod h1:h1NjWce9XRLGQEsW7w
 golang.org/x/sys v0.0.0-20210225134936-a50acf3fe073/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20210228012217-479acdf4ea46/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20210303074136-134d130e1a04/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
+golang.org/x/sys v0.0.0-20210304124612-50617c2ba197/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20210330210617-4fbd30eecc44/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20210423082822-04245dca01da/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20210423185535-09eb48e85fd7/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20210510120138-977fb7262007/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20210603081109-ebe580a85c40/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20210615035016-665e8c7367d1/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
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 golang.org/x/sys v0.0.0-20210809222454-d867a43fc93e/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20211019181941-9d821ace8654/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20211025201205-69cdffdb9359/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
@@ -1637,7 +1674,6 @@ golang.org/x/sys v0.0.0-20220702020025-31831981b65f/go.mod h1:oPkhp1MJrh7nUepCBc
 golang.org/x/sys v0.0.0-20220715151400-c0bba94af5f8/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220722155257-8c9f86f7a55f/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220811171246-fbc7d0a398ab/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
-golang.org/x/sys v0.0.0-20220908164124-27713097b956/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.1.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.2.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.3.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
@@ -1649,8 +1685,9 @@ golang.org/x/sys v0.8.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.9.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.10.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.11.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
-golang.org/x/sys v0.13.0 h1:Af8nKPmuFypiUBjVoU9V20FiaFXOcuZI21p0ycVYYGE=
-golang.org/x/sys v0.13.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+golang.org/x/sys v0.12.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+golang.org/x/sys v0.15.0 h1:h48lPFYpsTvQJZF4EKyI4aLHaev3CxivZmv7yZig9pc=
+golang.org/x/sys v0.15.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
 golang.org/x/term v0.0.0-20201117132131-f5c789dd3221/go.mod h1:Nr5EML6q2oocZ2LXRh80K7BxOlk5/8JxuGnuhpl+muw=
 golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo=
 golang.org/x/term v0.0.0-20210927222741-03fcf44c2211/go.mod h1:jbD1KX2456YbFQfuXm/mYQcufACuNUgVhRMnK/tPxf8=
@@ -1664,6 +1701,8 @@ golang.org/x/term v0.8.0/go.mod h1:xPskH00ivmX89bAKVGSKKtLOWNx2+17Eiy94tnKShWo=
 golang.org/x/term v0.9.0/go.mod h1:M6DEAAIenWoTxdKrOltXcmDY3rSplQUkrvaDU5FcQyo=
 golang.org/x/term v0.10.0/go.mod h1:lpqdcUyK/oCiQxvxVrppt5ggO2KCZ5QblwqPnfZ6d5o=
 golang.org/x/term v0.11.0/go.mod h1:zC9APTIj3jG3FdV/Ons+XE1riIZXG4aZ4GTHiPZJPIU=
+golang.org/x/term v0.12.0/go.mod h1:owVbMEjm3cBLCHdkQu9b1opXd4ETQWc3BhuQGKgXgvU=
+golang.org/x/term v0.15.0/go.mod h1:BDl952bC7+uMoWR75FIrCDx79TPU9oHkTZ9yRbYOrX0=
 golang.org/x/text v0.0.0-20170915032832-14c0d48ead0c/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
 golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
 golang.org/x/text v0.3.1-0.20180807135948-17ff2d5776d2/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
@@ -1682,14 +1721,16 @@ golang.org/x/text v0.9.0/go.mod h1:e1OnstbJyHTd6l/uOt8jFFHp6TRDWZR/bV3emEE/zU8=
 golang.org/x/text v0.10.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE=
 golang.org/x/text v0.11.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE=
 golang.org/x/text v0.12.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE=
-golang.org/x/text v0.13.0 h1:ablQoSUd0tRdKxZewP80B+BaqeKJuVhuRxj/dkrun3k=
 golang.org/x/text v0.13.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE=
+golang.org/x/text v0.14.0 h1:ScX5w1eTa3QqT8oi6+ziP7dTV1S2+ALU0bI+0zXKWiQ=
+golang.org/x/text v0.14.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU=
 golang.org/x/time v0.0.0-20180412165947-fbb02b2291d2/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ=
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 golang.org/x/time v0.0.0-20191024005414-555d28b269f0/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ=
 golang.org/x/time v0.0.0-20200416051211-89c76fbcd5d1/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ=
-golang.org/x/time v0.3.0 h1:rg5rLMjNzMS1RkNLzCG38eapWhnYLFYXDXj2gOlr8j4=
+golang.org/x/time v0.5.0 h1:o7cqy6amK/52YcAKIPlM3a+Fpj35zvRj2TP+e1xFSfk=
+golang.org/x/time v0.5.0/go.mod h1:3BpzKBy/shNhVucY/MWOyx10tF3SFh9QdLuxbVysPQM=
 golang.org/x/tools v0.0.0-20180221164845-07fd8470d635/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
 golang.org/x/tools v0.0.0-20180525024113-a5b4c53f6e8b/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
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@@ -1697,6 +1738,7 @@ golang.org/x/tools v0.0.0-20180917221912-90fa682c2a6e/go.mod h1:n7NCudcB/nEzxVGm
 golang.org/x/tools v0.0.0-20181030221726-6c7e314b6563/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
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 golang.org/x/tools v0.0.0-20190114222345-bf090417da8b/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
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 golang.org/x/tools v0.0.0-20190226205152-f727befe758c/go.mod h1:9Yl7xja0Znq3iFh3HoIrodX9oNMXvdceNzlUR8zjMvY=
 golang.org/x/tools v0.0.0-20190307163923-6a08e3108db3/go.mod h1:25r3+/G6/xytQM8iWZKq3Hn0kr0rgFKPUNVEL/dr3z4=
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@@ -1717,6 +1759,7 @@ golang.org/x/tools v0.0.0-20190816200558-6889da9d5479/go.mod h1:b+2E5dAYhXwXZwtn
 golang.org/x/tools v0.0.0-20190910044552-dd2b5c81c578/go.mod h1:b+2E5dAYhXwXZwtnZ6UAqBI28+e2cm9otk0dWdXHAEo=
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 golang.org/x/tools v0.0.0-20191010075000-0337d82405ff/go.mod h1:b+2E5dAYhXwXZwtnZ6UAqBI28+e2cm9otk0dWdXHAEo=
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@@ -1793,6 +1836,7 @@ golang.org/x/tools v0.1.0/go.mod h1:xkSsbof2nBLbhDlRMhhhyNLN/zl3eTqcnHD5viDpcZ0=
 golang.org/x/tools v0.1.1-0.20210205202024-ef80cdb6ec6d/go.mod h1:9bzcO0MWcOuT0tm1iBGzDVPshzfwoVvREIui8C+MHqU=
 golang.org/x/tools v0.1.1-0.20210302220138-2ac05c832e1a/go.mod h1:9bzcO0MWcOuT0tm1iBGzDVPshzfwoVvREIui8C+MHqU=
 golang.org/x/tools v0.1.1/go.mod h1:o0xws9oXOQQZyjljx8fwUC0k7L1pTE6eaCbjGeHmOkk=
+golang.org/x/tools v0.1.4/go.mod h1:o0xws9oXOQQZyjljx8fwUC0k7L1pTE6eaCbjGeHmOkk=
 golang.org/x/tools v0.1.5/go.mod h1:o0xws9oXOQQZyjljx8fwUC0k7L1pTE6eaCbjGeHmOkk=
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 golang.org/x/tools v0.1.10/go.mod h1:Uh6Zz+xoGYZom868N8YTex3t7RhtHDBrE8Gzo9bV56E=
@@ -1803,18 +1847,24 @@ golang.org/x/tools v0.3.0/go.mod h1:/rWhSS2+zyEVwoJf8YAX6L2f0ntZ7Kn/mGgAWcipA5k=
 golang.org/x/tools v0.4.0/go.mod h1:UE5sM2OK9E/d67R0ANs2xJizIymRP5gJU295PvKXxjQ=
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 golang.org/x/tools v0.6.0/go.mod h1:Xwgl3UAJ/d3gWutnCtw505GrjyAbvKui8lOU390QaIU=
-golang.org/x/tools v0.10.0 h1:tvDr/iQoUqNdohiYm0LmmKcBk+q86lb9EprIUFhHHGg=
-golang.org/x/tools v0.10.0/go.mod h1:UJwyiVBsOA2uwvK/e5OY3GTpDUJriEd+/YlqAwLPmyM=
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@@ -1836,8 +1886,8 @@ google.golang.org/api v0.30.0/go.mod h1:QGmEvQ87FHZNiUVJkT14jQNYJ4ZJjdRF23ZXz513
 google.golang.org/api v0.35.0/go.mod h1:/XrVsuzM0rZmrsbjJutiuftIzeuTQcEeaYcSk/mQ1dg=
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 google.golang.org/api v0.40.0/go.mod h1:fYKFpnQN0DsDSKRVRcQSDQNtqWPfM9i+zNPxepjRCQ8=
-google.golang.org/api v0.128.0 h1:RjPESny5CnQRn9V6siglged+DZCgfu9l6mO9dkX9VOg=
-google.golang.org/api v0.128.0/go.mod h1:Y611qgqaE92On/7g65MQgxYul3c0rEB894kniWLY750=
+google.golang.org/api v0.153.0 h1:N1AwGhielyKFaUqH07/ZSIQR3uNPcV7NVw0vj+j4iR4=
+google.golang.org/api v0.153.0/go.mod h1:3qNJX5eOmhiWYc67jRA/3GsDw97UFb5ivv7Y2PrriAY=
 google.golang.org/appengine v1.1.0/go.mod h1:EbEs0AVv82hx2wNQdGPgUI5lhzA/G0D9YwlJXL52JkM=
 google.golang.org/appengine v1.2.0/go.mod h1:xpcJRLb0r/rnEns0DIKYYv+WjYCduHsrkT7/EB5XEv4=
 google.golang.org/appengine v1.4.0/go.mod h1:xpcJRLb0r/rnEns0DIKYYv+WjYCduHsrkT7/EB5XEv4=
@@ -1846,8 +1896,9 @@ google.golang.org/appengine v1.6.1/go.mod h1:i06prIuMbXzDqacNJfV5OdTW448YApPu5ww
 google.golang.org/appengine v1.6.2/go.mod h1:i06prIuMbXzDqacNJfV5OdTW448YApPu5ww/cMBSeb0=
 google.golang.org/appengine v1.6.5/go.mod h1:8WjMMxjGQR8xUklV/ARdw2HLXBOI7O7uCIDZVag1xfc=
 google.golang.org/appengine v1.6.6/go.mod h1:8WjMMxjGQR8xUklV/ARdw2HLXBOI7O7uCIDZVag1xfc=
-google.golang.org/appengine v1.6.7 h1:FZR1q0exgwxzPzp/aF+VccGrSfxfPpkBqjIIEq3ru6c=
 google.golang.org/appengine v1.6.7/go.mod h1:8WjMMxjGQR8xUklV/ARdw2HLXBOI7O7uCIDZVag1xfc=
+google.golang.org/appengine v1.6.8 h1:IhEN5q69dyKagZPYMSdIjS2HqprW324FRQZJcGqPAsM=
+google.golang.org/appengine v1.6.8/go.mod h1:1jJ3jBArFh5pcgW8gCtRJnepW8FzD1V44FJffLiz/Ds=
 google.golang.org/genproto v0.0.0-20170818010345-ee236bd376b0/go.mod h1:JiN7NxoALGmiZfu7CAH4rXhgtRTLTxftemlI0sWmxmc=
 google.golang.org/genproto v0.0.0-20180817151627-c66870c02cf8/go.mod h1:JiN7NxoALGmiZfu7CAH4rXhgtRTLTxftemlI0sWmxmc=
 google.golang.org/genproto v0.0.0-20181107211654-5fc9ac540362/go.mod h1:JiN7NxoALGmiZfu7CAH4rXhgtRTLTxftemlI0sWmxmc=
@@ -1886,7 +1937,6 @@ google.golang.org/genproto v0.0.0-20200729003335-053ba62fc06f/go.mod h1:FWY/as6D
 google.golang.org/genproto v0.0.0-20200804131852-c06518451d9c/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no=
 google.golang.org/genproto v0.0.0-20200825200019-8632dd797987/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no=
 google.golang.org/genproto v0.0.0-20200904004341-0bd0a958aa1d/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no=
-google.golang.org/genproto v0.0.0-20200911024640-645f7a48b24f/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no=
 google.golang.org/genproto v0.0.0-20201109203340-2640f1f9cdfb/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no=
 google.golang.org/genproto v0.0.0-20201201144952-b05cb90ed32e/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no=
 google.golang.org/genproto v0.0.0-20201210142538-e3217bee35cc/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no=
@@ -1894,12 +1944,13 @@ google.golang.org/genproto v0.0.0-20201214200347-8c77b98c765d/go.mod h1:FWY/as6D
 google.golang.org/genproto v0.0.0-20210108203827-ffc7fda8c3d7/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no=
 google.golang.org/genproto v0.0.0-20210126160654-44e461bb6506/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no=
 google.golang.org/genproto v0.0.0-20210226172003-ab064af71705/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no=
-google.golang.org/genproto v0.0.0-20230711160842-782d3b101e98 h1:Z0hjGZePRE0ZBWotvtrwxFNrNE9CUAGtplaDK5NNI/g=
-google.golang.org/genproto v0.0.0-20230711160842-782d3b101e98/go.mod h1:S7mY02OqCJTD0E1OiQy1F72PWFB4bZJ87cAtLPYgDR0=
-google.golang.org/genproto/googleapis/api v0.0.0-20230711160842-782d3b101e98 h1:FmF5cCW94Ij59cfpoLiwTgodWmm60eEV0CjlsVg2fuw=
-google.golang.org/genproto/googleapis/api v0.0.0-20230711160842-782d3b101e98/go.mod h1:rsr7RhLuwsDKL7RmgDDCUc6yaGr1iqceVb5Wv6f6YvQ=
-google.golang.org/genproto/googleapis/rpc v0.0.0-20230711160842-782d3b101e98 h1:bVf09lpb+OJbByTj913DRJioFFAjf/ZGxEz7MajTp2U=
-google.golang.org/genproto/googleapis/rpc v0.0.0-20230711160842-782d3b101e98/go.mod h1:TUfxEVdsvPg18p6AslUXFoLdpED4oBnGwyqk3dV1XzM=
+google.golang.org/genproto v0.0.0-20210630183607-d20f26d13c79/go.mod h1:yiaVoXHpRzHGyxV3o4DktVWY4mSUErTKaeEOq6C3t3U=
+google.golang.org/genproto v0.0.0-20231127180814-3a041ad873d4 h1:W12Pwm4urIbRdGhMEg2NM9O3TWKjNcxQhs46V0ypf/k=
+google.golang.org/genproto v0.0.0-20231127180814-3a041ad873d4/go.mod h1:5RBcpGRxr25RbDzY5w+dmaqpSEvl8Gwl1x2CICf60ic=
+google.golang.org/genproto/googleapis/api v0.0.0-20231127180814-3a041ad873d4 h1:ZcOkrmX74HbKFYnpPY8Qsw93fC29TbJXspYKaBkSXDQ=
+google.golang.org/genproto/googleapis/api v0.0.0-20231127180814-3a041ad873d4/go.mod h1:k2dtGpRrbsSyKcNPKKI5sstZkrNCZwpU/ns96JoHbGg=
+google.golang.org/genproto/googleapis/rpc v0.0.0-20231127180814-3a041ad873d4 h1:DC7wcm+i+P1rN3Ff07vL+OndGg5OhNddHyTA+ocPqYE=
+google.golang.org/genproto/googleapis/rpc v0.0.0-20231127180814-3a041ad873d4/go.mod h1:eJVxU6o+4G1PSczBr85xmyvSNYAKvAYgkub40YGomFM=
 google.golang.org/grpc v1.8.0/go.mod h1:yo6s7OP7yaDglbqo1J04qKzAhqBH6lvTonzMVmEdcZw=
 google.golang.org/grpc v1.17.0/go.mod h1:6QZJwpn2B+Zp71q/5VxRsJ6NXXVCE5NRUHRo+f3cWCs=
 google.golang.org/grpc v1.19.0/go.mod h1:mqu4LbDTu4XGKhr4mRzUsmM4RtVoemTSY81AxZiDr8c=
@@ -1927,11 +1978,11 @@ google.golang.org/grpc v1.33.2/go.mod h1:JMHMWHQWaTccqQQlmk3MJZS+GWXOdAesneDmEnv
 google.golang.org/grpc v1.34.0/go.mod h1:WotjhfgOW/POjDeRt8vscBtXq+2VjORFy659qA51WJ8=
 google.golang.org/grpc v1.35.0/go.mod h1:qjiiYl8FncCW8feJPdyg3v6XW24KsRHe+dy9BAGRRjU=
 google.golang.org/grpc v1.36.0/go.mod h1:qjiiYl8FncCW8feJPdyg3v6XW24KsRHe+dy9BAGRRjU=
+google.golang.org/grpc v1.38.0/go.mod h1:NREThFqKR1f3iQ6oBuvc5LadQuXVGo9rkm5ZGrQdJfM=
+google.golang.org/grpc v1.39.0/go.mod h1:PImNr+rS9TWYb2O4/emRugxiyHZ5JyHW5F+RPnDzfrE=
 google.golang.org/grpc v1.44.0/go.mod h1:k+4IHHFw41K8+bbowsex27ge2rCb65oeWqe4jJ590SU=
-google.golang.org/grpc v1.45.0/go.mod h1:lN7owxKUQEqMfSyQikvvk5tf/6zMPsrK+ONuO11+0rQ=
-google.golang.org/grpc v1.58.3 h1:BjnpXut1btbtgN/6sp+brB2Kbm2LjNXnidYujAVbSoQ=
-google.golang.org/grpc v1.58.3/go.mod h1:tgX3ZQDlNJGU96V6yHh1T/JeoBQ2TXdr43YbYSsCJk0=
-google.golang.org/grpc/cmd/protoc-gen-go-grpc v0.0.0-20200910201057-6591123024b3/go.mod h1:6Kw0yEErY5E/yWrBtf03jp27GLLJujG4z/JK95pnjjw=
+google.golang.org/grpc v1.59.0 h1:Z5Iec2pjwb+LEOqzpB2MR12/eKFhDPhuqW91O+4bwUk=
+google.golang.org/grpc v1.59.0/go.mod h1:aUPDwccQo6OTjy7Hct4AfBPD1GptF4fyUjIkQ9YtF98=
 google.golang.org/protobuf v0.0.0-20200109180630-ec00e32a8dfd/go.mod h1:DFci5gLYBciE7Vtevhsrf46CRTquxDuWsQurQQe4oz8=
 google.golang.org/protobuf v0.0.0-20200221191635-4d8936d0db64/go.mod h1:kwYJMbMJ01Woi6D6+Kah6886xMZcty6N08ah7+eCXa0=
 google.golang.org/protobuf v0.0.0-20200228230310-ab0ca4ff8a60/go.mod h1:cfTl7dwQJ+fmap5saPgwCLgHXTUD7jkjRqWcaiX5VyM=
@@ -1945,8 +1996,9 @@ google.golang.org/protobuf v1.25.0/go.mod h1:9JNX74DMeImyA3h4bdi1ymwjUzf21/xIlba
 google.golang.org/protobuf v1.25.1-0.20200805231151-a709e31e5d12/go.mod h1:9JNX74DMeImyA3h4bdi1ymwjUzf21/xIlbajtzgsN7c=
 google.golang.org/protobuf v1.26.0-rc.1/go.mod h1:jlhhOSvTdKEhbULTjvd4ARK9grFBp09yW+WbY/TyQbw=
 google.golang.org/protobuf v1.26.0/go.mod h1:9q0QmTI4eRPtz6boOQmLYwt+qCgq0jsYwAQnmE0givc=
-google.golang.org/protobuf v1.31.0 h1:g0LDEJHgrBl9N9r17Ru3sqWhkIx2NB67okBHPwC7hs8=
-google.golang.org/protobuf v1.31.0/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqwMG9pJV4I=
+google.golang.org/protobuf v1.27.1/go.mod h1:9q0QmTI4eRPtz6boOQmLYwt+qCgq0jsYwAQnmE0givc=
+google.golang.org/protobuf v1.31.1-0.20231027082548-f4a6c1f6e5c1 h1:fk72uXZyuZiTtW5tgd63jyVK6582lF61nRC/kGv6vCA=
+google.golang.org/protobuf v1.31.1-0.20231027082548-f4a6c1f6e5c1/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqwMG9pJV4I=
 gopkg.in/alecthomas/kingpin.v2 v2.2.6/go.mod h1:FMv+mEhP44yOT+4EoQTLFTRgOQ1FBLkstjWtayDeSgw=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
@@ -2014,12 +2066,15 @@ mvdan.cc/unparam v0.0.0-20210104141923-aac4ce9116a7/go.mod h1:hBpJkZE8H/sb+VRFvw
 mvdan.cc/unparam v0.0.0-20221223090309-7455f1af531d h1:3rvTIIM22r9pvXk+q3swxUQAQOxksVMGK7sml4nG57w=
 mvdan.cc/unparam v0.0.0-20221223090309-7455f1af531d/go.mod h1:IeHQjmn6TOD+e4Z3RFiZMMsLVL+A96Nvptar8Fj71is=
 nhooyr.io/websocket v1.8.6/go.mod h1:B70DZP8IakI65RVQ51MsWP/8jndNma26DVA/nFSCgW0=
-nhooyr.io/websocket v1.8.7 h1:usjR2uOr/zjjkVMy0lW+PPohFok7PCow5sDjLgX4P4g=
-nhooyr.io/websocket v1.8.7/go.mod h1:B70DZP8IakI65RVQ51MsWP/8jndNma26DVA/nFSCgW0=
+nhooyr.io/websocket v1.8.10 h1:mv4p+MnGrLDcPlBoWsvPP7XCzTYMXP9F9eIGoKbgx7Q=
+nhooyr.io/websocket v1.8.10/go.mod h1:rN9OFWIUwuxg4fR5tELlYC04bXYowCP9GX47ivo2l+c=
 periph.io/x/conn/v3 v3.7.0 h1:f1EXLn4pkf7AEWwkol2gilCNZ0ElY+bxS4WE2PQXfrA=
-periph.io/x/host/v3 v3.8.1-0.20230331112814-9f0d9f7d76db h1:8+HL7DJFofYRhGoK/UdwhzvQj3I2HrKLQ6dkOC66CZY=
+periph.io/x/conn/v3 v3.7.0/go.mod h1:ypY7UVxgDbP9PJGwFSVelRRagxyXYfttVh7hJZUHEhg=
+periph.io/x/host/v3 v3.8.2 h1:ayKUDzgUCN0g8+/xM9GTkWaOBhSLVcVHGTfjAOi8OsQ=
+periph.io/x/host/v3 v3.8.2/go.mod h1:yFL76AesNHR68PboofSWYaQTKmvPXsQH2Apvp/ls/K4=
 rsc.io/binaryregexp v0.2.0/go.mod h1:qTv7/COck+e2FymRvadv62gMdZztPaShugOCi3I+8D8=
 rsc.io/pdf v0.1.1 h1:k1MczvYDUvJBe93bYd7wrZLLUEcLZAuF824/I4e5Xr4=
+rsc.io/pdf v0.1.1/go.mod h1:n8OzWcQ6Sp37PL01nO98y4iUCRdTGarVfzxY20ICaU4=
 rsc.io/quote/v3 v3.1.0/go.mod h1:yEA65RcK8LyAZtP9Kv3t0HmxON59tX3rD+tICJqUlj0=
 rsc.io/sampler v1.3.0/go.mod h1:T1hPZKmBbMNahiBKFy5HrXp6adAjACjK9JXDnKaTXpA=
 sigs.k8s.io/yaml v1.1.0/go.mod h1:UJmg0vDUVViEyp3mgSv9WPwZCDxu4rQW1olrI1uml+o=
diff --git a/sensors/lidar_test.go b/sensors/lidar_test.go
index d7ccd086..275f0815 100644
--- a/sensors/lidar_test.go
+++ b/sensors/lidar_test.go
@@ -20,7 +20,7 @@ func TestNewLidar(t *testing.T) {
 		actualLidar, err := s.NewLidar(context.Background(), s.SetupDeps(lidar, imu), string(lidar), testDataFrequencyHz, logger)
 		test.That(t, err, test.ShouldBeError,
 			errors.New("error getting lidar camera "+
-				" for slam service: \"rdk:component:camera/\" missing from dependencies"))
+				" for slam service: Resource missing from dependencies. Resource: rdk:component:camera/"))
 		test.That(t, actualLidar, test.ShouldResemble, s.Lidar{})
 	})
 
@@ -29,7 +29,7 @@ func TestNewLidar(t *testing.T) {
 		actualLidar, err := s.NewLidar(context.Background(), s.SetupDeps(lidar, imu), string(lidar), testDataFrequencyHz, logger)
 		test.That(t, err, test.ShouldBeError,
 			errors.New("error getting lidar camera "+
-				"gibberish_lidar for slam service: \"rdk:component:camera/gibberish_lidar\" missing from dependencies"))
+				"gibberish_lidar for slam service: Resource missing from dependencies. Resource: rdk:component:camera/gibberish_lidar"))
 		test.That(t, actualLidar, test.ShouldResemble, s.Lidar{})
 	})
 
diff --git a/sensors/movementsensor_test.go b/sensors/movementsensor_test.go
index 145e85fe..2b83d57e 100644
--- a/sensors/movementsensor_test.go
+++ b/sensors/movementsensor_test.go
@@ -35,8 +35,8 @@ func TestNewMovementSensor(t *testing.T) {
 		deps := s.SetupDeps(lidar, movementSensor)
 		actualMs, err := s.NewMovementSensor(context.Background(), deps, string(movementSensor), testDataFrequencyHz, logger)
 		test.That(t, err, test.ShouldBeError,
-			errors.New("error getting movement sensor \""+string(movementSensor)+"\" for slam service: \""+
-				"rdk:component:movement_sensor/"+string(movementSensor)+"\" missing from dependencies"))
+			errors.New("error getting movement sensor \""+string(movementSensor)+"\" for slam service: "+
+				"Resource missing from dependencies. Resource: rdk:component:movement_sensor/"+string(movementSensor)))
 		test.That(t, actualMs, test.ShouldResemble, &s.MovementSensor{})
 	})
 
diff --git a/viam-cartographer/src/carto_facade/carto_facade.cc b/viam-cartographer/src/carto_facade/carto_facade.cc
index c610e837..b96764a8 100644
--- a/viam-cartographer/src/carto_facade/carto_facade.cc
+++ b/viam-cartographer/src/carto_facade/carto_facade.cc
@@ -890,6 +890,57 @@ void CartoFacade::AddIMUReading(const viam_carto_imu_reading *sr) {
     }
 };
 
+void CartoFacade::AddOdometerReading(const viam_carto_odometer_reading *sr) {
+    if (state != CartoFacadeState::STARTED) {
+        LOG(ERROR) << "carto facade is in state: " << state
+                   << " expected it to be in state: "
+                   << CartoFacadeState::STARTED;
+        throw VIAM_CARTO_NOT_IN_STARTED_STATE;
+    }
+    bstring movement_sensor = to_bstring(config.movement_sensor);
+
+    bool known_sensor = biseq(movement_sensor, sr->odometer);
+    bdestroy(movement_sensor);
+
+    if (!known_sensor) {
+        VLOG(1) << "expected sensor: " << to_std_string(sr->odometer)
+                << " to be " << config.movement_sensor;
+        throw VIAM_CARTO_UNKNOWN_SENSOR_NAME;
+    }
+
+    int64_t odometer_reading_time_unix_milli =
+        sr->odometer_reading_time_unix_milli;
+
+    cartographer::sensor::OdometryData measurement;
+    measurement.time = cartographer::common::FromUniversal(0) +
+                       cartographer::common::FromMilliseconds(
+                           odometer_reading_time_unix_milli);
+    measurement.pose = cartographer::transform::Rigid3d(
+        cartographer::transform::Rigid3d::Vector(
+            sr->translation_x, sr->translation_y, sr->translation_z),
+        cartographer::transform::Rigid3d::Quaternion(
+            sr->rotation_w, sr->rotation_x, sr->rotation_y, sr->rotation_z));
+
+    cartographer::transform::Rigid3d tmp_global_pose;
+
+    if (map_builder_mutex.try_lock()) {
+        VLOG(1) << "AddSensorData timestamp: " << measurement.time
+                << " Sensor type: Odometer ";
+        map_builder.AddSensorData(kOdometerSensorId.id, measurement);
+        VLOG(1) << "Data added is: " << measurement.pose.DebugString();
+        LOG(INFO) << "Added odometer data to Cartographer";
+        tmp_global_pose = map_builder.GetGlobalPose();
+        map_builder_mutex.unlock();
+        {
+            std::lock_guard<std::mutex> lk(viam_response_mutex);
+            latest_global_pose = tmp_global_pose;
+        }
+        return;
+    } else {
+        throw VIAM_CARTO_UNABLE_TO_ACQUIRE_LOCK;
+    }
+};
+
 viam::carto_facade::SlamMode determine_slam_mode(
     std::string path_to_internal_state, std::chrono::seconds map_rate_sec) {
     // Check if there is an apriori map (internal state) in the
@@ -1206,6 +1257,47 @@ extern int viam_carto_add_imu_reading_destroy(viam_carto_imu_reading *sr) {
     return return_code;
 };
 
+extern int viam_carto_add_odometer_reading(
+    viam_carto *vc, const viam_carto_odometer_reading *sr) {
+    if (vc == nullptr) {
+        return VIAM_CARTO_VC_INVALID;
+    }
+
+    if (sr == nullptr) {
+        return VIAM_CARTO_ODOMETER_READING_INVALID;
+    }
+
+    try {
+        viam::carto_facade::CartoFacade *cf =
+            static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
+        cf->AddOdometerReading(sr);
+    } catch (int err) {
+        return err;
+    } catch (std::exception &e) {
+        LOG(ERROR) << e.what();
+        return VIAM_CARTO_UNKNOWN_ERROR;
+    }
+    return VIAM_CARTO_SUCCESS;
+};
+
+extern int viam_carto_add_odometer_reading_destroy(
+    viam_carto_odometer_reading *sr) {
+    if (sr == nullptr) {
+        return VIAM_CARTO_ODOMETER_READING_INVALID;
+    }
+    int return_code = VIAM_CARTO_SUCCESS;
+    int rc = BSTR_OK;
+
+    // destroy sensor
+    rc = bdestroy(sr->odometer);
+    if (rc != BSTR_OK) {
+        return_code = VIAM_CARTO_DESTRUCTOR_ERROR;
+    }
+    sr->odometer = nullptr;
+
+    return return_code;
+};
+
 extern int viam_carto_get_position(viam_carto *vc,
                                    viam_carto_get_position_response *r) {
     if (vc == nullptr) {
diff --git a/viam-cartographer/src/carto_facade/carto_facade.h b/viam-cartographer/src/carto_facade/carto_facade.h
index 5c8b216f..862bb9cc 100644
--- a/viam-cartographer/src/carto_facade/carto_facade.h
+++ b/viam-cartographer/src/carto_facade/carto_facade.h
@@ -89,6 +89,18 @@ typedef struct viam_carto_imu_reading {
     int64_t imu_reading_time_unix_milli;
 } viam_carto_imu_reading;
 
+typedef struct viam_carto_odometer_reading {
+    bstring odometer;
+    double translation_x;
+    double translation_y;
+    double translation_z;
+    double rotation_x;
+    double rotation_y;
+    double rotation_z;
+    double rotation_w;
+    int64_t odometer_reading_time_unix_milli;
+} viam_carto_odometer_reading;
+
 // return codes
 #define VIAM_CARTO_SUCCESS 0
 #define VIAM_CARTO_UNABLE_TO_ACQUIRE_LOCK 1
@@ -126,6 +138,7 @@ typedef struct viam_carto_imu_reading {
 #define VIAM_CARTO_IMU_PROVIDED_AND_IMU_ENABLED_MISMATCH 34
 #define VIAM_CARTO_IMU_READING_EMPTY 35
 #define VIAM_CARTO_IMU_READING_INVALID 36
+#define VIAM_CARTO_ODOMETER_READING_INVALID 37
 
 typedef struct viam_carto_algo_config {
     bool optimize_on_start;
@@ -248,6 +261,28 @@ extern int viam_carto_add_imu_reading(viam_carto *vc,                   //
 extern int viam_carto_add_imu_reading_destroy(viam_carto_imu_reading *sr  //
 );
 
+// viam_carto_add_odometer_reading/3 takes a viam_carto pointer, a
+// viam_carto_odometer_reading
+//
+// On error: Returns a non 0 error code
+//
+// An expected error is VIAM_CARTO_UNABLE_TO_ACQUIRE_LOCK(1)
+//
+// On success: Returns 0, adds odometer reading to cartographer's data model
+extern int viam_carto_add_odometer_reading(
+    viam_carto *vc,                        //
+    const viam_carto_odometer_reading *sr  //
+);
+
+// viam_carto_add_odometer_reading_destroy/2 takes a viam_carto pointer
+//
+// On error: Returns a non 0 error code
+//
+// On success: Returns 0, frees the viam_carto_odometer_reading.
+extern int viam_carto_add_odometer_reading_destroy(
+    viam_carto_odometer_reading *sr  //
+);
+
 // viam_carto_get_position/3 takes a viam_carto pointer, a
 // viam_carto_get_position_response pointer
 //
@@ -402,6 +437,8 @@ class CartoFacade {
 
     void AddIMUReading(const viam_carto_imu_reading *sr);
 
+    void AddOdometerReading(const viam_carto_odometer_reading *sr);
+
     void Start();
 
     void Stop();
diff --git a/viam-cartographer/src/carto_facade/carto_facade_test.cc b/viam-cartographer/src/carto_facade/carto_facade_test.cc
index b44dcaab..7dce4855 100644
--- a/viam-cartographer/src/carto_facade/carto_facade_test.cc
+++ b/viam-cartographer/src/carto_facade/carto_facade_test.cc
@@ -61,29 +61,64 @@ viam_carto_lidar_reading new_test_lidar_reading(
     sr.lidar_reading_time_unix_milli = lidar_reading_time_unix_milli;
     return sr;
 }
+void add_lidar_reading_successfully(viam_carto *vc, int number_reading,
+                                    std::string pcd_path, int64_t timestamp) {
+    VLOG(1) << "viam_carto_add_lidar_reading " << number_reading;
+    viam_carto_lidar_reading sr =
+        new_test_lidar_reading("lidar", pcd_path, timestamp);
+    BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) == VIAM_CARTO_SUCCESS);
+    BOOST_TEST(viam_carto_add_lidar_reading_destroy(&sr) == VIAM_CARTO_SUCCESS);
+}
 
-viam_carto_imu_reading new_testIMUReading(std::string imu, double readings[6],
-                                          int64_t imu_reading_time_unix_milli) {
+viam_carto_imu_reading new_test_imu_reading(
+    std::string imu, double reading[6], int64_t imu_reading_time_unix_milli) {
     viam_carto_imu_reading sr;
     sr.imu = bfromcstr(imu.c_str());
-    sr.lin_acc_x = readings[0];
-    sr.lin_acc_y = readings[1];
-    sr.lin_acc_z = readings[2];
-    sr.ang_vel_x = readings[3];
-    sr.ang_vel_y = readings[4];
-    sr.ang_vel_z = readings[5];
+    sr.lin_acc_x = reading[0];
+    sr.lin_acc_y = reading[1];
+    sr.lin_acc_z = reading[2];
+    sr.ang_vel_x = reading[3];
+    sr.ang_vel_y = reading[4];
+    sr.ang_vel_z = reading[5];
     sr.imu_reading_time_unix_milli = imu_reading_time_unix_milli;
     return sr;
 }
 
-void add_new_testIMUReading(viam_carto *vc, double readings[6],
-                            int64_t timestamp) {
-    VLOG(1) << "viam_carto_add_new_testIMUReading";
-    viam_carto_imu_reading sr = new_testIMUReading("imu", readings, timestamp);
+void add_imu_reading_successfully(viam_carto *vc, int number_reading,
+                                  double reading[6], int64_t timestamp) {
+    VLOG(1) << "viam_carto_add_imu_reading " << number_reading;
+    viam_carto_imu_reading sr =
+        new_test_imu_reading("movement_sensor", reading, timestamp);
     BOOST_TEST(viam_carto_add_imu_reading(vc, &sr) == VIAM_CARTO_SUCCESS);
     BOOST_TEST(viam_carto_add_imu_reading_destroy(&sr) == VIAM_CARTO_SUCCESS);
 }
 
+viam_carto_odometer_reading new_test_odometer_reading(
+    std::string odometer, double reading[7],
+    int64_t odometer_reading_time_unix_milli) {
+    viam_carto_odometer_reading sr;
+    sr.odometer = bfromcstr(odometer.c_str());
+    sr.translation_x = reading[0];
+    sr.translation_y = reading[1];
+    sr.translation_z = reading[2];
+    sr.rotation_x = reading[3];
+    sr.rotation_y = reading[4];
+    sr.rotation_z = reading[5];
+    sr.rotation_w = reading[5];
+    sr.odometer_reading_time_unix_milli = odometer_reading_time_unix_milli;
+    return sr;
+}
+
+void add_odometer_reading_successfully(viam_carto *vc, int number_reading,
+                                       double reading[7], int64_t timestamp) {
+    VLOG(1) << "viam_carto_add_odometer_reading " << number_reading;
+    viam_carto_odometer_reading sr =
+        new_test_odometer_reading("movement_sensor", reading, timestamp);
+    BOOST_TEST(viam_carto_add_odometer_reading(vc, &sr) == VIAM_CARTO_SUCCESS);
+    BOOST_TEST(viam_carto_add_odometer_reading_destroy(&sr) ==
+               VIAM_CARTO_SUCCESS);
+}
+
 viam_carto_algo_config viam_carto_algo_config_setup(bool use_imu_data) {
     struct viam_carto_algo_config ac;
     ac.use_imu_data = use_imu_data;
@@ -141,7 +176,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_validate) {
         fs::temp_directory_path() / fs::path(bfs::unique_path().string());
 
     std::string camera = "lidar";
-    std::string movement_sensor = "imu";
+    std::string movement_sensor = "movement_sensor";
     std::string no_camera = "";
     std::string no_movement_sensor = "";
 
@@ -179,14 +214,15 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_validate) {
     BOOST_TEST(viam_carto_init(&vc, lib, vcc_invalid_lidar_config, ac) ==
                VIAM_CARTO_LIDAR_CONFIG_INVALID);
 
-    // Test config validation with invalid imu config
+    // Test config validation with invalid movement sensor config
     ac = viam_carto_algo_config_setup(true);
-    struct viam_carto_config vcc_invalid_imu_config =
+    struct viam_carto_config vcc_invalid_movement_sensor_config =
         viam_carto_config_setup(1, VIAM_CARTO_THREE_D, tmp_dir.string(), camera,
                                 no_movement_sensor, false, false, "");
 
-    BOOST_TEST(viam_carto_init(&vc, lib, vcc_invalid_imu_config, ac) ==
-               VIAM_CARTO_IMU_PROVIDED_AND_IMU_ENABLED_MISMATCH);
+    BOOST_TEST(
+        viam_carto_init(&vc, lib, vcc_invalid_movement_sensor_config, ac) ==
+        VIAM_CARTO_IMU_PROVIDED_AND_IMU_ENABLED_MISMATCH);
 
     //  Test config validation with deprecated config structure
     fs::path deprecated_path = tmp_dir / fs::path(bfs::unique_path().string());
@@ -209,24 +245,24 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_validate) {
     BOOST_TEST(viam_carto_init(&vc, lib, vcc_invalid_path, ac) ==
                VIAM_CARTO_DATA_DIR_FILE_SYSTEM_ERROR);
 
-    // Test config validation with imu (success)
-    struct viam_carto_config vcc_with_imu_succ =
+    // Test config validation with movement sensor (success)
+    struct viam_carto_config vcc_with_movement_sensor_succ =
         viam_carto_config_setup(1, VIAM_CARTO_THREE_D, tmp_dir.string(), camera,
                                 movement_sensor, false, false, "");
 
-    BOOST_TEST(viam_carto_init(nullptr, lib, vcc_with_imu_succ, ac) ==
-               VIAM_CARTO_VC_INVALID);
-    BOOST_TEST(viam_carto_init(nullptr, nullptr, vcc_with_imu_succ, ac) ==
-               VIAM_CARTO_VC_INVALID);
-    BOOST_TEST(viam_carto_init(&vc, nullptr, vcc_with_imu_succ, ac) ==
-               VIAM_CARTO_LIB_INVALID);
+    BOOST_TEST(viam_carto_init(nullptr, lib, vcc_with_movement_sensor_succ,
+                               ac) == VIAM_CARTO_VC_INVALID);
+    BOOST_TEST(viam_carto_init(nullptr, nullptr, vcc_with_movement_sensor_succ,
+                               ac) == VIAM_CARTO_VC_INVALID);
+    BOOST_TEST(viam_carto_init(&vc, nullptr, vcc_with_movement_sensor_succ,
+                               ac) == VIAM_CARTO_LIB_INVALID);
 
-    // invalid invalid terminate
+    // Invalid terminate
     BOOST_TEST(viam_carto_terminate(nullptr) == VIAM_CARTO_VC_INVALID);
     viam_carto *invalidvc = nullptr;
     BOOST_TEST(viam_carto_terminate(&invalidvc) == VIAM_CARTO_VC_INVALID);
 
-    BOOST_TEST(viam_carto_init(&vc, lib, vcc_with_imu_succ, ac) ==
+    BOOST_TEST(viam_carto_init(&vc, lib, vcc_with_movement_sensor_succ, ac) ==
                VIAM_CARTO_SUCCESS);
     BOOST_TEST(vc->slam_mode == VIAM_CARTO_SLAM_MODE_MAPPING);
 
@@ -234,15 +270,15 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_validate) {
     BOOST_TEST(viam_carto_terminate(&vc) ==
                VIAM_CARTO_VC_INVALID);  // can't terminate same instance again
 
-    // Test config validation without imu (success)
+    // Test config validation without movement sensor (success)
     viam_carto *vc2;
     ac = viam_carto_algo_config_setup(false);
-    struct viam_carto_config vcc_without_imu_succ =
+    struct viam_carto_config vcc_without_movement_sensor_succ =
         viam_carto_config_setup(1, VIAM_CARTO_THREE_D, tmp_dir.string(), camera,
                                 no_movement_sensor, false, false, "");
 
-    BOOST_TEST(viam_carto_init(&vc2, lib, vcc_without_imu_succ, ac) ==
-               VIAM_CARTO_SUCCESS);
+    BOOST_TEST(viam_carto_init(&vc2, lib, vcc_without_movement_sensor_succ,
+                               ac) == VIAM_CARTO_SUCCESS);
     BOOST_TEST(vc2->slam_mode == VIAM_CARTO_SLAM_MODE_MAPPING);
 
     BOOST_TEST(viam_carto_terminate(&vc2) == VIAM_CARTO_SUCCESS);
@@ -254,11 +290,11 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_validate) {
     viam_carto_config_teardown(vcc_empty_component_ref);
     viam_carto_config_teardown(vcc_invalid_map_rate_sec);
     viam_carto_config_teardown(vcc_invalid_lidar_config);
-    viam_carto_config_teardown(vcc_invalid_imu_config);
+    viam_carto_config_teardown(vcc_invalid_movement_sensor_config);
     viam_carto_config_teardown(vcc_deprecated_path);
     viam_carto_config_teardown(vcc_invalid_path);
-    viam_carto_config_teardown(vcc_with_imu_succ);
-    viam_carto_config_teardown(vcc_without_imu_succ);
+    viam_carto_config_teardown(vcc_with_movement_sensor_succ);
+    viam_carto_config_teardown(vcc_without_movement_sensor_succ);
     // TODO: Move all suite level setup & teardown to boost test hook
     fs::remove_all(tmp_dir);
 
@@ -272,7 +308,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_derive_slam_mode_cloud_story_enabled) {
     BOOST_TEST(viam_carto_lib_init(&lib, 0, 1) == VIAM_CARTO_SUCCESS);
 
     std::string camera = "lidar";
-    std::string movement_sensor = "imu";
+    std::string movement_sensor = "movement_sensor";
     struct viam_carto_algo_config ac = viam_carto_algo_config_setup(true);
 
     {
@@ -471,7 +507,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_derive_slam_mode) {
     BOOST_TEST(viam_carto_lib_init(&lib, 0, 1) == VIAM_CARTO_SUCCESS);
 
     std::string camera = "lidar";
-    std::string movement_sensor = "imu";
+    std::string movement_sensor = "movement_sensor";
     fs::path tmp_dir =
         fs::temp_directory_path() / fs::path(bfs::unique_path().string());
     struct viam_carto_algo_config ac = viam_carto_algo_config_setup(true);
@@ -666,7 +702,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_derive_slam_mode) {
     BOOST_TEST(viam_carto_lib_terminate(&lib) == VIAM_CARTO_SUCCESS);
 }
 
-BOOST_AUTO_TEST_CASE(CartoFacade_init_terminate_without_imu) {
+BOOST_AUTO_TEST_CASE(CartoFacade_init_terminate_without_movement_sensor) {
     // library init
     viam_carto_lib *lib;
     BOOST_TEST(viam_carto_lib_init(&lib, 0, 1) == VIAM_CARTO_SUCCESS);
@@ -717,7 +753,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_terminate_without_imu) {
     BOOST_TEST(viam_carto_lib_terminate(&lib) == VIAM_CARTO_SUCCESS);
 }
 
-BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
+BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_movement_sensor) {
     // library init
     viam_carto_lib *lib;
     BOOST_TEST(viam_carto_lib_init(&lib, 0, 1) == VIAM_CARTO_SUCCESS);
@@ -740,9 +776,10 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
     // behavior of methods before start
     // AddLidarReading
     {
-        viam_carto_lidar_reading sr = new_test_lidar_reading(
-            "lidar", ".artifact/data/viam-cartographer/mock_lidar/0.pcd",
-            1687900053773475);
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/0.pcd";
+        viam_carto_lidar_reading sr =
+            new_test_lidar_reading("lidar", pcd_path, 1687900053773475);
         viam::carto_facade::CartoFacade *cf =
             static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
         BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) ==
@@ -774,6 +811,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
 
     // Start
     BOOST_TEST(viam_carto_start(vc) == VIAM_CARTO_SUCCESS);
+
     // start not allowed if already started
     BOOST_TEST(viam_carto_start(vc) == VIAM_CARTO_NOT_IN_IO_INITIALIZED_STATE);
 
@@ -796,27 +834,32 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
                    VIAM_CARTO_GET_POSITION_NOT_INITIALIZED);
     }
 
-    std::vector<std::vector<double>> points = {
-        {-0.001000, 0.002000, 0.005000, 16711938},
-        {0.582000, 0.012000, 0.000000, 16711938},
-        {0.007000, 0.006000, 0.001000, 16711938}};
+    // AddLidarReading
+
     // vc nullptr
     {
         BOOST_TEST(viam_carto_add_lidar_reading(nullptr, nullptr) ==
                    VIAM_CARTO_VC_INVALID);
+        BOOST_TEST(viam_carto_add_lidar_reading_destroy(nullptr) ==
+                   VIAM_CARTO_LIDAR_READING_INVALID);
     }
 
     // viam_carto_lidar_reading nullptr
     {
         BOOST_TEST(viam_carto_add_lidar_reading(vc, nullptr) ==
                    VIAM_CARTO_LIDAR_READING_INVALID);
+        BOOST_TEST(viam_carto_add_lidar_reading_destroy(nullptr) ==
+                   VIAM_CARTO_LIDAR_READING_INVALID);
     }
-    BOOST_TEST(viam_carto_add_lidar_reading_destroy(nullptr) ==
-               VIAM_CARTO_LIDAR_READING_INVALID);
 
+    // lidar is not equal to component reference
     {
+        std::vector<std::vector<double>> points = {
+            {-0.001000, 0.002000, 0.005000, 16711938},
+            {0.582000, 0.012000, 0.000000, 16711938},
+            {0.007000, 0.006000, 0.001000, 16711938}};
+
         viam_carto_lidar_reading sr;
-        // must be they first sensor in the sensor list
         sr.lidar = bfromcstr("never heard of it sensor");
         std::string pcd = help::binary_pcd(points);
         sr.lidar_reading = blk2bstr(pcd.c_str(), pcd.length());
@@ -828,26 +871,9 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
-    // PATRICIA TODO: #242
-    // non first sensor
-    {
-        viam_carto_lidar_reading sr;
-        // must be they first sensor in the sensor list
-        sr.lidar = bfromcstr("sensor_2");
-        std::string pcd = help::binary_pcd(points);
-        sr.lidar_reading = blk2bstr(pcd.c_str(), pcd.length());
-        BOOST_TEST(sr.lidar_reading != nullptr);
-        sr.lidar_reading_time_unix_milli = 1687900014152474;
-        BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) ==
-                   VIAM_CARTO_UNKNOWN_SENSOR_NAME);
-        BOOST_TEST(viam_carto_add_lidar_reading_destroy(&sr) ==
-                   VIAM_CARTO_SUCCESS);
-    }
-
     // empty lidar reading
     {
         viam_carto_lidar_reading sr;
-        // must be they first sensor in the sensor list
         sr.lidar = bfromcstr("lidar");
         std::string pcd = "empty lidar reading";
         // passing 0 as the second parameter makes the string empty
@@ -860,10 +886,9 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
-    // invalid reading
+    // invalid lidar reading
     {
         viam_carto_lidar_reading sr;
-        // must be they first sensor in the sensor list
         sr.lidar = bfromcstr("lidar");
         std::string pcd = "invalid lidar reading";
         sr.lidar_reading = blk2bstr(pcd.c_str(), pcd.length());
@@ -875,11 +900,12 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
-    // unable to aquire lock
+    // unable to aquire lock on lidar
     {
-        viam_carto_lidar_reading sr = new_test_lidar_reading(
-            "lidar", ".artifact/data/viam-cartographer/mock_lidar/0.pcd",
-            1687900053773475);
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/0.pcd";
+        viam_carto_lidar_reading sr =
+            new_test_lidar_reading("lidar", pcd_path, 1687900053773475);
         viam::carto_facade::CartoFacade *cf =
             static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
         std::lock_guard<std::mutex> lk(cf->map_builder_mutex);
@@ -932,9 +958,9 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
                    VIAM_CARTO_GET_POSITION_NOT_INITIALIZED);
     }
 
-    // GetPosition is unchanged from first AddLidarReading request
+    // GetPosition is unchanged from the first three AddLidarReading requests,
     // as cartographer needs at least 3 lidar readings to compute a
-    // position and the first position computed is zero.
+    // position. Until then, the initially set position equals is zero.
     // As a result it takes a minimum of 3 lidar readings before
     // cartographer produces a non zeroed position.
     // For more info see:
@@ -943,27 +969,26 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
 
     // first sensor reading
     {
-        VLOG(1) << "viam_carto_add_lidar_reading 1";
-        viam_carto_lidar_reading sr = new_test_lidar_reading(
-            "lidar", ".artifact/data/viam-cartographer/mock_lidar/0.pcd",
-            1629037851000000);
-        BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) == VIAM_CARTO_SUCCESS);
-        BOOST_TEST(viam_carto_add_lidar_reading_destroy(&sr) ==
-                   VIAM_CARTO_SUCCESS);
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/0.pcd";
+        add_lidar_reading_successfully(vc, 1, pcd_path, 1629037851000000);
     }
 
+    // GetPosition not initialized after only one successful reading
     {
         viam_carto_get_position_response pr;
         BOOST_TEST(viam_carto_get_position(vc, &pr) ==
                    VIAM_CARTO_GET_POSITION_NOT_INITIALIZED);
     }
 
+    // GetPointCloudMap is empty after only one reading
     {
         viam_carto_get_point_cloud_map_response mr;
         BOOST_TEST(viam_carto_get_point_cloud_map(vc, &mr) ==
                    VIAM_CARTO_POINTCLOUD_MAP_EMPTY);
     }
 
+    // GetInternalState is not changed after only one reading
     {
         viam_carto_get_internal_state_response isr;
         BOOST_TEST(viam_carto_get_internal_state(vc, &isr) ==
@@ -979,13 +1004,9 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
 
     // second sensor reading
     {
-        VLOG(1) << "viam_carto_add_lidar_reading 2";
-        viam_carto_lidar_reading sr = new_test_lidar_reading(
-            "lidar", ".artifact/data/viam-cartographer/mock_lidar/1.pcd",
-            1629037853000000);
-        BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) == VIAM_CARTO_SUCCESS);
-        BOOST_TEST(viam_carto_add_lidar_reading_destroy(&sr) ==
-                   VIAM_CARTO_SUCCESS);
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/1.pcd";
+        add_lidar_reading_successfully(vc, 2, pcd_path, 1629037853000000);
     }
 
     // GetPosition returning origin position from 2 successful AddLidarReading
@@ -1006,7 +1027,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
-    // GetPointCloudMap after successful sensor readings
+    // GetPointCloudMap after 2 successful sensor readings
     {
         viam_carto_get_point_cloud_map_response mr;
         BOOST_TEST(viam_carto_get_point_cloud_map(vc, &mr) ==
@@ -1023,10 +1044,14 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
+    // GetInternalState after 2 successful sensor readings
     {
         viam_carto_get_internal_state_response isr;
         BOOST_TEST(viam_carto_get_internal_state(vc, &isr) ==
                    VIAM_CARTO_SUCCESS);
+        // on arm64 linux this is strictly greater than;
+        // on arm64 mac for some reason it is equal to;
+        // https://viam.atlassian.net/browse/RSDK-3866
         BOOST_TEST(blength(isr.internal_state) >
                    last_internal_state_response_size);
         last_internal_state_response_size = blength(isr.internal_state);
@@ -1036,13 +1061,9 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
 
     // third sensor reading
     {
-        VLOG(1) << "viam_carto_add_lidar_reading 3";
-        viam_carto_lidar_reading sr = new_test_lidar_reading(
-            "lidar", ".artifact/data/viam-cartographer/mock_lidar/2.pcd",
-            1629037855000000);
-        BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) == VIAM_CARTO_SUCCESS);
-        BOOST_TEST(viam_carto_add_lidar_reading_destroy(&sr) ==
-                   VIAM_CARTO_SUCCESS);
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/2.pcd";
+        add_lidar_reading_successfully(vc, 3, pcd_path, 1629037855000000);
     }
 
     // GetPosition changed from 3 successful AddLidarReading requests
@@ -1062,6 +1083,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
+    // GetInternalState after 3 successful sensor readings
     {
         viam_carto_get_internal_state_response isr;
         BOOST_TEST(viam_carto_get_internal_state(vc, &isr) ==
@@ -1089,9 +1111,10 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
     // behavior of methods after stop
     // AddLidarReading
     {
-        viam_carto_lidar_reading sr = new_test_lidar_reading(
-            "lidar", ".artifact/data/viam-cartographer/mock_lidar/0.pcd",
-            1687900053773475);
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/0.pcd";
+        viam_carto_lidar_reading sr =
+            new_test_lidar_reading("lidar", pcd_path, 1687900053773475);
         viam::carto_facade::CartoFacade *cf =
             static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
         BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) ==
@@ -1100,8 +1123,8 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
+    // GetPosition
     {
-        // GetPosition
         viam_carto_get_position_response pr;
         BOOST_TEST(viam_carto_get_position(vc, &pr) ==
                    VIAM_CARTO_NOT_IN_STARTED_STATE);
@@ -1130,7 +1153,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_imu) {
     BOOST_TEST(viam_carto_lib_terminate(&lib) == VIAM_CARTO_SUCCESS);
 }
 
-BOOST_AUTO_TEST_CASE(CartoFacade_config_without_imu) {
+BOOST_AUTO_TEST_CASE(CartoFacade_config_without_movement_sensor) {
     // library init
     viam_carto_lib *lib;
     BOOST_TEST(viam_carto_lib_init(&lib, 0, 1) == VIAM_CARTO_SUCCESS);
@@ -1163,7 +1186,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_config_without_imu) {
     BOOST_TEST(viam_carto_lib_terminate(&lib) == VIAM_CARTO_SUCCESS);
 }
 
-BOOST_AUTO_TEST_CASE(CartoFacade_start_stop_without_imu) {
+BOOST_AUTO_TEST_CASE(CartoFacade_start_stop_without_movement_sensor) {
     //  validate invalid pointer
     BOOST_TEST(viam_carto_start(nullptr) == VIAM_CARTO_VC_INVALID);
     BOOST_TEST(viam_carto_stop(nullptr) == VIAM_CARTO_VC_INVALID);
@@ -1200,7 +1223,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_start_stop_without_imu) {
     // Confirm at least one map is persisted within the map_rate_sec
     VLOG(1) << "path_to_internal_state: " << cf->path_to_internal_state;
     // TODO: This should busy wait until this condition happens & the tests
-    // passes or or 2 seconds goes by & the test fails.
+    // passes or 2 seconds goes by & the test fails.
     std::this_thread::sleep_for(cf->config.map_rate_sec +
                                 std::chrono::seconds(1));
     BOOST_TEST(fs::is_directory(cf->path_to_internal_state));
@@ -1219,14 +1242,14 @@ BOOST_AUTO_TEST_CASE(CartoFacade_start_stop_without_imu) {
     BOOST_TEST(viam_carto_lib_terminate(&lib) == VIAM_CARTO_SUCCESS);
 }
 
-BOOST_AUTO_TEST_CASE(CartoFacade_init_terminate_with_imu) {
+BOOST_AUTO_TEST_CASE(CartoFacade_init_terminate_with_movement_sensor) {
     // library init
     viam_carto_lib *lib;
     BOOST_TEST(viam_carto_lib_init(&lib, 0, 1) == VIAM_CARTO_SUCCESS);
 
     viam_carto *vc;
     std::string camera = "lidar";
-    std::string movement_sensor = "imu";
+    std::string movement_sensor = "movement_sensor";
     fs::path tmp_dir =
         fs::temp_directory_path() / fs::path(bfs::unique_path().string());
     struct viam_carto_config vcc =
@@ -1271,7 +1294,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_terminate_with_imu) {
     BOOST_TEST(viam_carto_lib_terminate(&lib) == VIAM_CARTO_SUCCESS);
 }
 
-BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
+BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_movement_sensor) {
     // library init
     viam_carto_lib *lib;
     BOOST_TEST(viam_carto_lib_init(&lib, 0, 1) == VIAM_CARTO_SUCCESS);
@@ -1279,7 +1302,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
     // Setup
     viam_carto *vc;
     std::string camera = "lidar";
-    std::string movement_sensor = "imu";
+    std::string movement_sensor = "movement_sensor";
     fs::path tmp_dir =
         fs::temp_directory_path() / fs::path(bfs::unique_path().string());
     struct viam_carto_config vcc =
@@ -1291,36 +1314,101 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
     BOOST_TEST(viam_carto_init(&vc, lib, vcc, ac) == VIAM_CARTO_SUCCESS);
     BOOST_TEST(vc->slam_mode == VIAM_CARTO_SLAM_MODE_MAPPING);
 
+    // behavior of methods before start
+    // AddLidarReading
+    {
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/0.pcd";
+        viam_carto_lidar_reading sr =
+            new_test_lidar_reading("lidar", pcd_path, 1687900053773475);
+        viam::carto_facade::CartoFacade *cf =
+            static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
+        BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) ==
+                   VIAM_CARTO_NOT_IN_STARTED_STATE);
+        BOOST_TEST(viam_carto_add_lidar_reading_destroy(&sr) ==
+                   VIAM_CARTO_SUCCESS);
+    }
+
+    // AddIMUReading
+    {
+        double reading[6] = {1, 2, 3, 4, 5, 6};
+        viam_carto_imu_reading sr =
+            new_test_imu_reading("movement_sensor", reading, 1687900053773475);
+        viam::carto_facade::CartoFacade *cf =
+            static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
+        BOOST_TEST(viam_carto_add_imu_reading(vc, &sr) ==
+                   VIAM_CARTO_NOT_IN_STARTED_STATE);
+        BOOST_TEST(viam_carto_add_imu_reading_destroy(&sr) ==
+                   VIAM_CARTO_SUCCESS);
+    }
+
+    // AddOdometerReading
+    {
+        double reading[7] = {1, 2, 3, 4, 5, 6, 7};
+        viam_carto_odometer_reading sr = new_test_odometer_reading(
+            "movement_sensor", reading, 1687900053773475);
+        viam::carto_facade::CartoFacade *cf =
+            static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
+        BOOST_TEST(viam_carto_add_odometer_reading(vc, &sr) ==
+                   VIAM_CARTO_NOT_IN_STARTED_STATE);
+        BOOST_TEST(viam_carto_add_odometer_reading_destroy(&sr) ==
+                   VIAM_CARTO_SUCCESS);
+    }
+
+    {
+        // GetPosition
+        viam_carto_get_position_response pr;
+        BOOST_TEST(viam_carto_get_position(vc, &pr) ==
+                   VIAM_CARTO_NOT_IN_STARTED_STATE);
+    }
+
+    //  GetPointCloudMap
+    {
+        viam_carto_get_point_cloud_map_response mr;
+        BOOST_TEST(viam_carto_get_point_cloud_map(vc, &mr) ==
+                   VIAM_CARTO_NOT_IN_STARTED_STATE);
+    }
+
+    // GetInternalState
+    {
+        viam_carto_get_internal_state_response isr;
+        BOOST_TEST(viam_carto_get_internal_state(vc, &isr) ==
+                   VIAM_CARTO_NOT_IN_STARTED_STATE);
+    }
+
     // Start
     BOOST_TEST(viam_carto_start(vc) == VIAM_CARTO_SUCCESS);
-    std::vector<std::vector<double>> points = {
-        {-0.001000, 0.002000, 0.005000, 16711938},
-        {0.582000, 0.012000, 0.000000, 16711938},
-        {0.007000, 0.006000, 0.001000, 16711938}};
 
-    // vc nullptr for lidar reading
+    // AddLidarReading
+
+    // vc nullptr
     {
         BOOST_TEST(viam_carto_add_lidar_reading(nullptr, nullptr) ==
                    VIAM_CARTO_VC_INVALID);
+        BOOST_TEST(viam_carto_add_lidar_reading_destroy(nullptr) ==
+                   VIAM_CARTO_LIDAR_READING_INVALID);
     }
 
     // viam_carto_lidar_reading nullptr
     {
         BOOST_TEST(viam_carto_add_lidar_reading(vc, nullptr) ==
                    VIAM_CARTO_LIDAR_READING_INVALID);
+        BOOST_TEST(viam_carto_add_lidar_reading_destroy(nullptr) ==
+                   VIAM_CARTO_LIDAR_READING_INVALID);
     }
 
-    BOOST_TEST(viam_carto_add_lidar_reading_destroy(nullptr) ==
-               VIAM_CARTO_LIDAR_READING_INVALID);
-
+    // lidar name is not equal to the configured component reference
     {
+        std::vector<std::vector<double>> points = {
+            {-0.001000, 0.002000, 0.005000, 16711938},
+            {0.582000, 0.012000, 0.000000, 16711938},
+            {0.007000, 0.006000, 0.001000, 16711938}};
+
         viam_carto_lidar_reading sr;
-        // must be the first sensor in the sensor list
         sr.lidar = bfromcstr("never heard of it sensor");
         std::string pcd = help::binary_pcd(points);
         sr.lidar_reading = blk2bstr(pcd.c_str(), pcd.length());
         BOOST_TEST(sr.lidar_reading != nullptr);
-
         sr.lidar_reading_time_unix_milli = 1687899990420347;
         BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) ==
                    VIAM_CARTO_UNKNOWN_SENSOR_NAME);
@@ -1331,13 +1419,11 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
     // empty lidar reading
     {
         viam_carto_lidar_reading sr;
-        // must be the first sensor in the sensor list
         sr.lidar = bfromcstr("lidar");
         std::string pcd = "empty lidar reading";
         // passing 0 as the second parameter makes the string empty
         sr.lidar_reading = blk2bstr(pcd.c_str(), 0);
         BOOST_TEST(sr.lidar_reading != nullptr);
-
         sr.lidar_reading_time_unix_milli = 1687900021820215;
         BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) ==
                    VIAM_CARTO_LIDAR_READING_EMPTY);
@@ -1345,10 +1431,9 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
-    // invalid reading
+    // invalid lidar reading
     {
         viam_carto_lidar_reading sr;
-        // must be the sensor configured
         sr.lidar = bfromcstr("lidar");
         std::string pcd = "invalid lidar reading";
         sr.lidar_reading = blk2bstr(pcd.c_str(), pcd.length());
@@ -1363,9 +1448,10 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
 
     // unable to acquire lock on lidar
     {
-        viam_carto_lidar_reading sr = new_test_lidar_reading(
-            "lidar", ".artifact/data/viam-cartographer/mock_lidar/0.pcd",
-            1687900053773475);
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/0.pcd";
+        viam_carto_lidar_reading sr =
+            new_test_lidar_reading("lidar", pcd_path, 1687900053773475);
         viam::carto_facade::CartoFacade *cf =
             static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
         std::lock_guard<std::mutex> lk(cf->map_builder_mutex);
@@ -1375,31 +1461,34 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
-    // vc nullptr for imu reading
+    // AddIMUReading
+
+    // vc nullptr
     {
         BOOST_TEST(viam_carto_add_imu_reading(nullptr, nullptr) ==
                    VIAM_CARTO_VC_INVALID);
+        BOOST_TEST(viam_carto_add_imu_reading_destroy(nullptr) ==
+                   VIAM_CARTO_IMU_READING_INVALID);
     }
 
     // viam_carto_imu_reading nullptr
     {
         BOOST_TEST(viam_carto_add_imu_reading(vc, nullptr) ==
                    VIAM_CARTO_IMU_READING_INVALID);
+        BOOST_TEST(viam_carto_add_imu_reading_destroy(nullptr) ==
+                   VIAM_CARTO_IMU_READING_INVALID);
     }
 
-    BOOST_TEST(viam_carto_add_imu_reading_destroy(nullptr) ==
-               VIAM_CARTO_IMU_READING_INVALID);
-
+    // reading IMU name is not equal to the configured movement sensor name
     {
         viam_carto_imu_reading sr;
-        // must be the sensor configured
         sr.imu = bfromcstr("never heard of it sensor");
         sr.lin_acc_x = 1;
-        sr.lin_acc_y = 1;
-        sr.lin_acc_z = 1;
-        sr.ang_vel_x = 1;
-        sr.ang_vel_y = 1;
-        sr.ang_vel_z = 1;
+        sr.lin_acc_y = 2;
+        sr.lin_acc_z = 3;
+        sr.ang_vel_x = 4;
+        sr.ang_vel_y = 5;
+        sr.ang_vel_z = 6;
         sr.imu_reading_time_unix_milli = 1687899990420347;
         BOOST_TEST(viam_carto_add_imu_reading(vc, &sr) ==
                    VIAM_CARTO_UNKNOWN_SENSOR_NAME);
@@ -1411,7 +1500,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
     {
         double reading[6] = {1, 1, 1, 1, 1, 1};
         viam_carto_imu_reading sr =
-            new_testIMUReading("imu", reading, 1687900053773475);
+            new_test_imu_reading("movement_sensor", reading, 1687900053773475);
         viam::carto_facade::CartoFacade *cf =
             static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
         std::lock_guard<std::mutex> lk(cf->map_builder_mutex);
@@ -1421,6 +1510,57 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
+    // AddOdometerReading
+
+    // vc nullptr
+    {
+        BOOST_TEST(viam_carto_add_odometer_reading(nullptr, nullptr) ==
+                   VIAM_CARTO_VC_INVALID);
+        BOOST_TEST(viam_carto_add_odometer_reading_destroy(nullptr) ==
+                   VIAM_CARTO_ODOMETER_READING_INVALID);
+    }
+
+    // viam_carto_odometer_reading nullptr
+    {
+        BOOST_TEST(viam_carto_add_odometer_reading(vc, nullptr) ==
+                   VIAM_CARTO_ODOMETER_READING_INVALID);
+        BOOST_TEST(viam_carto_add_odometer_reading_destroy(nullptr) ==
+                   VIAM_CARTO_ODOMETER_READING_INVALID);
+    }
+
+    // reading odometer name is not equal to the configured movement sensor name
+    {
+        viam_carto_odometer_reading sr;
+        sr.odometer = bfromcstr("never heard of it sensor");
+        sr.translation_x = 1;
+        sr.translation_y = 2;
+        sr.translation_z = 3;
+        sr.rotation_x = 4;
+        sr.rotation_y = 5;
+        sr.rotation_z = 6;
+        sr.rotation_w = 7;
+        sr.odometer_reading_time_unix_milli = 1687899990420347;
+        BOOST_TEST(viam_carto_add_odometer_reading(vc, &sr) ==
+                   VIAM_CARTO_UNKNOWN_SENSOR_NAME);
+        BOOST_TEST(viam_carto_add_odometer_reading_destroy(&sr) ==
+                   VIAM_CARTO_SUCCESS);
+    }
+
+    // unable to acquire lock on odometer
+    {
+        double reading[6] = {1, 1, 1, 1, 1, 1};
+        viam_carto_odometer_reading sr = new_test_odometer_reading(
+            "movement_sensor", reading, 1687900053773475);
+        viam::carto_facade::CartoFacade *cf =
+            static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
+        std::lock_guard<std::mutex> lk(cf->map_builder_mutex);
+        BOOST_TEST(viam_carto_add_odometer_reading(vc, &sr) ==
+                   VIAM_CARTO_UNABLE_TO_ACQUIRE_LOCK);
+        BOOST_TEST(viam_carto_add_odometer_reading_destroy(&sr) ==
+                   VIAM_CARTO_SUCCESS);
+    }
+
+    // GetInternalState
     int last_internal_state_response_size = 0;
     {
         BOOST_TEST(viam_carto_get_internal_state_response_destroy(nullptr) ==
@@ -1440,9 +1580,19 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
-    // GetPosition is unchanged from first AddLidarReading
-    // request as cartographer needs at least 3 lidar readings to compute a
-    // position and the first position computed is zero.
+    // GetPosition unchanged from failed AddLidarReading, AddIMUReading, and
+    // AddOdometerReading requests
+    {
+        viam_carto_get_position_response pr;
+        // Test get position before any data is provided
+        // it should return an error
+        BOOST_TEST(viam_carto_get_position(vc, &pr) ==
+                   VIAM_CARTO_GET_POSITION_NOT_INITIALIZED);
+    }
+
+    // GetPosition is unchanged from the first three AddLidarReading requests,
+    // as cartographer needs at least 3 lidar readings to compute a
+    // position. Until then, the initially set position equals is zero.
     // As a result it takes a minimum of 3 lidar readings before
     // cartographer produces a non zeroed position.
     // For more info see:
@@ -1451,62 +1601,109 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
 
     // first sensor reading
     {
-        VLOG(1) << "viam_carto_add_lidar_reading 1";
-        viam_carto_lidar_reading sr = new_test_lidar_reading(
-            "lidar", ".artifact/data/viam-cartographer/mock_lidar/0.pcd",
-            1629037851000000);
-        BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) == VIAM_CARTO_SUCCESS);
-        BOOST_TEST(viam_carto_add_lidar_reading_destroy(&sr) ==
-                   VIAM_CARTO_SUCCESS);
-        double readings[6] = {0, 0, 9.8, 0, 0, 0};
-        add_new_testIMUReading(vc, readings, 1629037851000000);
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/0.pcd";
+        add_lidar_reading_successfully(vc, 1, pcd_path, 1629037851000000);
+
+        double imu_reading[6] = {0, 0, 9.8, 0, 0, 0};
+        add_imu_reading_successfully(vc, 1, imu_reading, 1629037851000000);
     }
 
     // second sensor reading
     {
-        VLOG(1) << "viam_carto_add_lidar_reading 2";
-        viam_carto_lidar_reading sr = new_test_lidar_reading(
-            "lidar", ".artifact/data/viam-cartographer/mock_lidar/1.pcd",
-            1629037853000100);
-        BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) == VIAM_CARTO_SUCCESS);
-        BOOST_TEST(viam_carto_add_lidar_reading_destroy(&sr) ==
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/1.pcd";
+        add_lidar_reading_successfully(vc, 2, pcd_path, 1629037853000000);
+
+        double imu_reading[6] = {0.1, 0, 9.8, 0, -0.2, 0};
+        add_imu_reading_successfully(vc, 2, imu_reading, 1629037853000100);
+    }
+
+    // third sensor reading
+    {
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/2.pcd";
+        add_lidar_reading_successfully(vc, 3, pcd_path, 1629037855000000);
+
+        double imu_reading[6] = {0.2, 0, 9.8, -0.6, 0, 0};
+        add_imu_reading_successfully(vc, 3, imu_reading, 1629037855000200);
+    }
+
+    // GetPosition changed from 3 successful AddLidarReading and AddIMUReading
+    // requests
+    {
+        viam_carto_get_position_response pr;
+        BOOST_TEST(viam_carto_get_position(vc, &pr) == VIAM_CARTO_SUCCESS);
+        BOOST_TEST(pr.x != 0);
+        BOOST_TEST(pr.y != 0);
+        BOOST_TEST(pr.z == 0);
+        BOOST_TEST(pr.imag != 0);
+        BOOST_TEST(pr.jmag != 0);
+        BOOST_TEST(pr.kmag != 0);
+        BOOST_TEST(pr.real != 1);
+        BOOST_TEST(to_std_string(pr.component_reference) == "lidar");
+
+        BOOST_TEST(viam_carto_get_position_response_destroy(&pr) ==
                    VIAM_CARTO_SUCCESS);
+    }
 
-        double readings[6] = {0.1, 0, 9.8, 0, -0.2, 0};
-        add_new_testIMUReading(vc, readings, 1629037853000100);
+    // GetPointCloudMap after 3 successful sensor readings
+    {
+        viam_carto_get_point_cloud_map_response mr;
+        BOOST_TEST(viam_carto_get_point_cloud_map(vc, &mr) ==
+                   VIAM_CARTO_SUCCESS);
+        pcl::PCLPointCloud2 blob;
+        pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(
+            new pcl::PointCloud<pcl::PointXYZRGB>);
+        auto s = to_std_string(mr.point_cloud_pcd);
+        BOOST_TEST(viam::carto_facade::util::read_pcd(s, blob) == 0);
+        pcl::fromPCLPointCloud2(blob, *cloud);
+        BOOST_TEST(cloud != nullptr);
+        BOOST_TEST(cloud->points.size() != 0);
+        BOOST_TEST(viam_carto_get_point_cloud_map_response_destroy(&mr) ==
+                   VIAM_CARTO_SUCCESS);
     }
 
-    // third sensor readings
+    // GetInternalState after 3 successful sensor readings
     {
-        VLOG(1) << "viam_carto_add_lidar_reading 3";
-        viam_carto_lidar_reading sr = new_test_lidar_reading(
-            "lidar", ".artifact/data/viam-cartographer/mock_lidar/2.pcd",
-            1629037855000200);
-        BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) == VIAM_CARTO_SUCCESS);
-        BOOST_TEST(viam_carto_add_lidar_reading_destroy(&sr) ==
+        viam_carto_get_internal_state_response isr;
+        BOOST_TEST(viam_carto_get_internal_state(vc, &isr) ==
+                   VIAM_CARTO_SUCCESS);
+        // on arm64 linux this is strictly greater than;
+        // on arm64 mac for some reason it is equal to;
+        // https://viam.atlassian.net/browse/RSDK-3866
+        BOOST_TEST(blength(isr.internal_state) >=
+                   last_internal_state_response_size);
+        last_internal_state_response_size = blength(isr.internal_state);
+        BOOST_TEST(viam_carto_get_internal_state_response_destroy(&isr) ==
                    VIAM_CARTO_SUCCESS);
-        double readings[6] = {0.2, 0, 9.8, -0.6, 0, 0};
-        add_new_testIMUReading(vc, readings, 1629037855000200);
     }
 
-    // GetPosition changed from 3 successful AddLidarReading requests
+    // add fourth sensor reading: only imu
+    {
+        double imu_reading[6] = {0.5, 0.2, 9.8, 0.6, 0.1, 0};
+        add_imu_reading_successfully(vc, 3, imu_reading, 1629037856000200);
+    }
+
+    // GetPosition changed from 3 successful AddLidarReading and 4 successful
+    // AddIMUReading requests
     {
         viam_carto_get_position_response pr;
         BOOST_TEST(viam_carto_get_position(vc, &pr) == VIAM_CARTO_SUCCESS);
-        BOOST_TEST(pr.x == 0);
-        BOOST_TEST(pr.y == 0);
+        BOOST_TEST(pr.x != 0);
+        BOOST_TEST(pr.y != 0);
         BOOST_TEST(pr.z == 0);
-        BOOST_TEST(pr.imag == 0);
-        BOOST_TEST(pr.jmag == 0);
-        BOOST_TEST(pr.kmag == 0);
-        BOOST_TEST(pr.real == 1);
+        BOOST_TEST(pr.imag != 0);
+        BOOST_TEST(pr.jmag != 0);
+        BOOST_TEST(pr.kmag != 0);
+        BOOST_TEST(pr.real != 1);
         BOOST_TEST(to_std_string(pr.component_reference) == "lidar");
 
         BOOST_TEST(viam_carto_get_position_response_destroy(&pr) ==
                    VIAM_CARTO_SUCCESS);
     }
 
-    // GetPointCloudMap after successful sensor readings
+    // GetPointCloudMap after 4 successful sensor readings
     {
         viam_carto_get_point_cloud_map_response mr;
         BOOST_TEST(viam_carto_get_point_cloud_map(vc, &mr) ==
@@ -1523,12 +1720,70 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
+    // GetInternalState after 4 successful sensor readings
     {
         viam_carto_get_internal_state_response isr;
         BOOST_TEST(viam_carto_get_internal_state(vc, &isr) ==
                    VIAM_CARTO_SUCCESS);
-        // on arm64 linux this is strictly greater than
-        // on arm64 mac for some reason it is equal to
+        // on arm64 linux this is strictly greater than;
+        // on arm64 mac for some reason it is equal to;
+        // https://viam.atlassian.net/browse/RSDK-3866
+        BOOST_TEST(blength(isr.internal_state) >=
+                   last_internal_state_response_size);
+        last_internal_state_response_size = blength(isr.internal_state);
+        BOOST_TEST(viam_carto_get_internal_state_response_destroy(&isr) ==
+                   VIAM_CARTO_SUCCESS);
+    }
+
+    // add fifth sensor reading: only odometer
+    {
+        double odometer_reading[7] = {0.5, 0.2, 9.8, 0.6, 0.1, 0, 0.8};
+        add_odometer_reading_successfully(vc, 3, odometer_reading,
+                                          1629037857000200);
+    }
+
+    // GetPosition changed from 3 successful AddLidarReading, 4 successful
+    // AddIMUReading, and 1 successful AddOdometerReading requests
+    {
+        viam_carto_get_position_response pr;
+        BOOST_TEST(viam_carto_get_position(vc, &pr) == VIAM_CARTO_SUCCESS);
+        BOOST_TEST(pr.x != 0);
+        BOOST_TEST(pr.y != 0);
+        BOOST_TEST(pr.z == 0);
+        BOOST_TEST(pr.imag != 0);
+        BOOST_TEST(pr.jmag != 0);
+        BOOST_TEST(pr.kmag != 0);
+        BOOST_TEST(pr.real != 1);
+        BOOST_TEST(to_std_string(pr.component_reference) == "lidar");
+
+        BOOST_TEST(viam_carto_get_position_response_destroy(&pr) ==
+                   VIAM_CARTO_SUCCESS);
+    }
+
+    // GetPointCloudMap after 5 successful sensor readings
+    {
+        viam_carto_get_point_cloud_map_response mr;
+        BOOST_TEST(viam_carto_get_point_cloud_map(vc, &mr) ==
+                   VIAM_CARTO_SUCCESS);
+        pcl::PCLPointCloud2 blob;
+        pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(
+            new pcl::PointCloud<pcl::PointXYZRGB>);
+        auto s = to_std_string(mr.point_cloud_pcd);
+        BOOST_TEST(viam::carto_facade::util::read_pcd(s, blob) == 0);
+        pcl::fromPCLPointCloud2(blob, *cloud);
+        BOOST_TEST(cloud != nullptr);
+        BOOST_TEST(cloud->points.size() != 0);
+        BOOST_TEST(viam_carto_get_point_cloud_map_response_destroy(&mr) ==
+                   VIAM_CARTO_SUCCESS);
+    }
+
+    // GetInternalState after 5 successful sensor readings
+    {
+        viam_carto_get_internal_state_response isr;
+        BOOST_TEST(viam_carto_get_internal_state(vc, &isr) ==
+                   VIAM_CARTO_SUCCESS);
+        // on arm64 linux this is strictly 'greater than';
+        // on arm64 mac for some reason it is 'equal to';
         // https://viam.atlassian.net/browse/RSDK-3866
         BOOST_TEST(blength(isr.internal_state) >=
                    last_internal_state_response_size);
@@ -1537,17 +1792,23 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
+    BOOST_TEST(viam_carto_run_final_optimization(vc) == VIAM_CARTO_SUCCESS);
+
     // Stop
     BOOST_TEST(viam_carto_stop(vc) == VIAM_CARTO_SUCCESS);
     // stop not allowed if not started
     BOOST_TEST(viam_carto_stop(vc) == VIAM_CARTO_NOT_IN_STARTED_STATE);
+    // run_final_optimization not allowed if not started
+    BOOST_TEST(viam_carto_run_final_optimization(vc) ==
+               VIAM_CARTO_NOT_IN_STARTED_STATE);
 
     // behavior of methods after stop
     // AddLidarReading
     {
-        viam_carto_lidar_reading sr = new_test_lidar_reading(
-            "lidar", ".artifact/data/viam-cartographer/mock_lidar/0.pcd",
-            1687900053773475);
+        std::string pcd_path =
+            ".artifact/data/viam-cartographer/mock_lidar/0.pcd";
+        viam_carto_lidar_reading sr =
+            new_test_lidar_reading("lidar", pcd_path, 1687900053773475);
         viam::carto_facade::CartoFacade *cf =
             static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
         BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) ==
@@ -1556,6 +1817,32 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
                    VIAM_CARTO_SUCCESS);
     }
 
+    // AddIMUReading
+    {
+        double reading[6] = {1, 2, 3, 4, 5, 6};
+        viam_carto_imu_reading sr =
+            new_test_imu_reading("movement_sensor", reading, 1687900053773475);
+        viam::carto_facade::CartoFacade *cf =
+            static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
+        BOOST_TEST(viam_carto_add_imu_reading(vc, &sr) ==
+                   VIAM_CARTO_NOT_IN_STARTED_STATE);
+        BOOST_TEST(viam_carto_add_imu_reading_destroy(&sr) ==
+                   VIAM_CARTO_SUCCESS);
+    }
+
+    // AddOdometerReading
+    {
+        double reading[7] = {1, 2, 3, 4, 5, 6, 7};
+        viam_carto_odometer_reading sr = new_test_odometer_reading(
+            "movement_sensor", reading, 1687900053773475);
+        viam::carto_facade::CartoFacade *cf =
+            static_cast<viam::carto_facade::CartoFacade *>(vc->carto_obj);
+        BOOST_TEST(viam_carto_add_odometer_reading(vc, &sr) ==
+                   VIAM_CARTO_NOT_IN_STARTED_STATE);
+        BOOST_TEST(viam_carto_add_odometer_reading_destroy(&sr) ==
+                   VIAM_CARTO_SUCCESS);
+    }
+
     // GetPosition
     {
         viam_carto_get_position_response pr;
@@ -1586,18 +1873,19 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_imu) {
     BOOST_TEST(viam_carto_lib_terminate(&lib) == VIAM_CARTO_SUCCESS);
 }
 
-BOOST_AUTO_TEST_CASE(CartoFacade_config_with_imu) {
+BOOST_AUTO_TEST_CASE(CartoFacade_config_with_movement_sensor) {
     // library init
     viam_carto_lib *lib;
     BOOST_TEST(viam_carto_lib_init(&lib, 0, 1) == VIAM_CARTO_SUCCESS);
 
     std::string camera = "lidar";
-    std::string movement_sensor = "imu";
+    std::string movement_sensor = "movement_sensor";
     fs::path tmp_dir =
         fs::temp_directory_path() / fs::path(bfs::unique_path().string());
     struct viam_carto_config vcc =
         viam_carto_config_setup(1, VIAM_CARTO_THREE_D, tmp_dir.string(), camera,
                                 movement_sensor, true, true, "");
+
     struct config c = viam::carto_facade::from_viam_carto_config(vcc);
 
     BOOST_TEST(to_std_string(c.component_reference) == "lidar");
@@ -1605,7 +1893,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_config_with_imu) {
     BOOST_TEST(c.lidar_config == VIAM_CARTO_THREE_D);
     BOOST_TEST(c.map_rate_sec.count() == 1);
     BOOST_TEST(c.camera == "lidar");
-    BOOST_TEST(c.movement_sensor == "imu");
+    BOOST_TEST(c.movement_sensor == "movement_sensor");
     BOOST_TEST(c.cloud_story_enabled == true);
     BOOST_TEST(c.enable_mapping == true);
 
@@ -1617,7 +1905,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_config_with_imu) {
     BOOST_TEST(viam_carto_lib_terminate(&lib) == VIAM_CARTO_SUCCESS);
 }
 
-BOOST_AUTO_TEST_CASE(CartoFacade_start_stop_with_imu) {
+BOOST_AUTO_TEST_CASE(CartoFacade_start_stop_with_movement_sensor) {
     //  validate invalid pointer
     BOOST_TEST(viam_carto_start(nullptr) == VIAM_CARTO_VC_INVALID);
     BOOST_TEST(viam_carto_stop(nullptr) == VIAM_CARTO_VC_INVALID);
@@ -1629,7 +1917,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_start_stop_with_imu) {
     // Setup
     viam_carto *vc;
     std::string camera = "lidar";
-    std::string movement_sensor = "imu";
+    std::string movement_sensor = "movement_sensor";
     fs::path tmp_dir =
         fs::temp_directory_path() / fs::path(bfs::unique_path().string());
     struct viam_carto_config vcc =
@@ -1646,14 +1934,14 @@ BOOST_AUTO_TEST_CASE(CartoFacade_start_stop_with_imu) {
     BOOST_TEST(fs::is_directory(cf->path_to_internal_state));
     BOOST_TEST(fs::is_empty(cf->path_to_internal_state));
 
-    // // Start
+    // Start
     BOOST_TEST(viam_carto_start(vc) == VIAM_CARTO_SUCCESS);
     BOOST_TEST(((cf->state) == CartoFacadeState::STARTED));
 
     // Confirm at least one map is persisted within the map_rate_sec
     VLOG(1) << "path_to_internal_state: " << cf->path_to_internal_state;
     // TODO: This should busy wait until this condition happens & the tests
-    // passes or or 2 seconds goes by & the test fails.
+    // passes or 2 seconds goes by & the test fails.
     std::this_thread::sleep_for(cf->config.map_rate_sec +
                                 std::chrono::seconds(1));
     BOOST_TEST(fs::is_directory(cf->path_to_internal_state));
diff --git a/viam-cartographer/src/carto_facade/map_builder.cc b/viam-cartographer/src/carto_facade/map_builder.cc
index 76018ef6..fe850dfc 100644
--- a/viam-cartographer/src/carto_facade/map_builder.cc
+++ b/viam-cartographer/src/carto_facade/map_builder.cc
@@ -106,6 +106,11 @@ void MapBuilder::AddSensorData(const std::string &sensor_id,
     trajectory_builder->AddSensorData(kIMUSensorId.id, measurement);
 }
 
+void MapBuilder::AddSensorData(const std::string &sensor_id,
+                               cartographer::sensor::OdometryData measurement) {
+    trajectory_builder->AddSensorData(kOdometerSensorId.id, measurement);
+}
+
 void MapBuilder::StartTrajectoryBuilder(bool use_imu_data) {
     VLOG(1) << "MapBuilder::StartTrajectoryBuilder";
     std::set<SensorId> sensorList = {kRangeSensorId};
diff --git a/viam-cartographer/src/carto_facade/map_builder.h b/viam-cartographer/src/carto_facade/map_builder.h
index 166319dd..ae10389e 100644
--- a/viam-cartographer/src/carto_facade/map_builder.h
+++ b/viam-cartographer/src/carto_facade/map_builder.h
@@ -24,6 +24,7 @@ using SensorId = cartographer::mapping::TrajectoryBuilderInterface::SensorId;
 
 const SensorId kRangeSensorId{SensorId::SensorType::RANGE, "range"};
 const SensorId kIMUSensorId{SensorId::SensorType::IMU, "imu"};
+const SensorId kOdometerSensorId{SensorId::SensorType::ODOMETRY, "odometry"};
 
 class MapBuilder {
    public:
@@ -70,12 +71,14 @@ class MapBuilder {
     // GetGlobalPose returns the local pose based on the provided a local pose.
     cartographer::transform::Rigid3d GetGlobalPose();
 
-    // AddSensorData adds sensor data to cartographer's internal state
-    // throws if adding sensor data fails.
+    // AddSensorData adds sensor data to cartographer's internal state.
+    // Throws if adding sensor data fails.
     void AddSensorData(const std::string &sensor_id,
                        cartographer::sensor::TimedPointCloudData measurement);
     void AddSensorData(const std::string &sensor_id,
                        cartographer::sensor::ImuData measurement);
+    void AddSensorData(const std::string &sensor_id,
+                       cartographer::sensor::OdometryData measurement);
 
     // GetLocalSlamResultCallback saves the local pose in the
     // local_slam_result_poses array.