save_location()
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save_location()
- 1 Minute to read
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save_location()
Add a permanent new location in robotic device.
This function will allow later to use navigate_to_location() function instead navigate_to_position().
Reference
Arguments
| Arguments | Type | Default value | |
|---|---|---|---|
| location_name | str | The name of the specified location. | |
| map_name | str | The name of the map where the location will be saved. | |
| current_pose | bool | False | True if you want to save the current position where the robot is. In this case, the arguments x, y, angle will not be considered. |
| x | float | X coordinate on the map. | |
| y | float | Y coordinate on the map. | |
| angle | float | Target angle. | |
| 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 of angles (DEGREES or RADIANS). |
Return
True if the whole function finished with no errors.
Exceptions
RayaNavNoMapLoadedRayaWrongArgumentRayaNavCurrentlyMappingRayaNavUnkownError
See the complete list of navigation exceptions.
Usage Example
Code:
class RayaApplication(RayaApplicationBase):
async def setup(self):
self.navigation = await self.enable_controller('navigation')
self.map_name = "newmap01"
...
async def loop(self):
await self.navigation.save_location(
x=1.0,
y=0.5,
angle=1.0,
location_name='new_location01',
pos_unit=POS_UNIT.METERS,
ang_unit=ANG_UNIT.RAD,
map_name='unity_apartment'
)
self.log.info(f'Location saved')
...
async def finish(self):
...
See the nav_all_unity_apartment, nav_get_info to check some valid uses.
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