navigate_to_position()

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navigate_to_position()

This function allows you to navigate to the desired goal destination in an autonomous way.

Reference

Arguments

Arguments	Type	Default value
x	`float`		x coordinate on the map
y	`float`		y coordinate on the map
angle	`float`		target angle
pos_unit	`POS_UNIT`	`POS_UNIT.PIXEL`	ENUM to determine whether the x,y values should be returned as pixels of the map image (`POS_UNIT.PIXEL`) or Cartesian position in meters (`POS_UNIT.METERS`)
ang_unit	`ANG_UNIT`	`ANG_UNIT.DEG`	ENUM to determine whether angle should be returned as radians(`ANG_UNIT.RAD`) or degrees (`ANG_UNIT.DEG`)
callback_feedback	`callable`	`None`	function that is being called during the navigation process and updates about the navigation status
callback_finish	`callable`	`None`	function that is being called when navigation finish
wait	`bool`	`False`	blocks the application until the robot finishes its navigation to the position

Callbacks

callback_feedback

key	Type
state	`str`
distance_to_goal	`double`
speed	`double`

callback_finish

key	Type
error	`int`
error_msg	`str`
### Return

Return

None

Exceptions

Exception	Condition
`RayaNavNotLocated`	The robot is not located in the map.
`RayaNotMoving`	The robot is already moving.

Example

Important note!

Please pay attention to enable_navigation(map_name) function under the setup() section. Without that function, navigation will not be allowed.

Code:

...
class RayaApplication(RayaApplicationBase):

    async def setup(self):
        self.navigation = await self.enable_controller('navigation')
       
        # You must enable navigation first by passing the map name. Without this line, navigation will not be allowed.
        await self.navigation.enable_navigation('unity_apartment')
        ...

    async def loop(self):
        ...
            try:
                await self.navigation.navigate_to_position( x=5, 
                                                            y=20, 
                                                            angle=50,
                                                            pos_unit = POS_UNIT.PIXEL, 
                                                            ang_unit = ANG_UNIT.DEG
                                                        )
            except:
                self.log.error('Cancel current navigation before request a new one...')

    async def finish(self):
       ...

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What's Next

navigate_to_zone()

Table of contents

navigate_to_position()
Reference
Example