navigate_to_zone()

1 Minute to read

Article summary

Did you find this summary helpful?

Thank you for your feedback

Navigate to a specific zone. By default, it will navigate to the center of the zone.

Reference

Arguments

Arguments	Type	Default value
zone_name	`str`		Name of the zone to navigate to.
to_center	`bool`	`True`	Whether to navigate to the center of the zone.
callback_feedback	`Callable`	`None`	Callable function for feedback (optional).
callback_finish	`Callable`	`None`	Callable function for finish (optional).
wait	`bool`	`False`	Coolean 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

Exceptions

RayaNavNotLocated
RayaNavAlreadyNavigating
RayaUnableToFollowPath
RayaUnableToComputePath
RayaNavUnkownError

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_zone(
                zone_name='initial_zone',
                to_center=True,
                callback_feedback=self.cb_nav_feedback, 
                callback_finish=self.cb_nav_finish, 
                wait=False
            )
        ...

    async def finish(self):
       ...

See the nav_to_zone, nav_all_unity_apartment to check some valid uses.

Was this article helpful?

What's Next

navigate_to_location()

Table of contents

Reference
Usage Example