navigate_to_position()
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navigate_to_position()
- 1 Minute to read
Article summary
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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 of the position. | |
| y | float | Y-coordinate of the position. | |
| angle | float | Angle of the position. | |
| pos_unit | POSITION_UNIT | POSITION_UNIT.PIXELS | Unit of measurement for the points (PIXELs or METERS). |
| ang_unit | ANGLE_UNIT | ANGLE_UNIT.DEGREES | unit of measurement for angle (DEGREES or RADIANS). |
| callback_feedback | Callable | None | Callable function for feedback (optional). |
| callback_finish | Callable | None | Callable function for finish (optional). |
| wait | bool | False | Boolean indicating whether to wait for user response (optional). |
Callback Arguments
callback_feedback
| Argument | Type | |
|---|---|---|
| feedback_code | int | Code for the type of feedback. |
| feedback_msg | str | Details regarding the feedback code (empty if no error). |
| distance_to_goal | float | Distance to goal in meters. |
| speed | float | Robot current speed. |
For a complete list of feedbacks see the complete list of navigation feedbacks.
callback_finish
| Argument | Type | |
|---|---|---|
| error_code | int | |
| error_msg | str |
Return
None, unless there is callback.
Exceptions
RayaNavNotLocatedRayaNavAlreadyNavigatingRayaUnableToFollowPathRayaUnableToComputePathRayaNavUnkownError
See the complete list of navigation exceptions.
Usage Example
Code:
...
class RayaApplication(RayaApplicationBase):
async def setup(self):
self.navigation = await self.enable_controller('navigation')
...
async def loop(self):
...
await self.navigation.navigate_to_position(
x=5.0,
y=20.0,
angle=50.0,
pos_unit = POS_UNIT.PIXEL,
ang_unit = ANG_UNIT.DEG
)
...
async def finish(self):
...
See the Navigate to click , nav_all_unity_apartment ), nav_get_info to check some valid uses.
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