set_map()
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set_map()
- 1 Minute to read
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set_map()
Activates a specific map.
In order to navigate and localize the robot, we must use this function and set the correct map of the environment.
Reference
Arguments
| Arguments | Type | Default value | |
|---|---|---|---|
| map_name | str | Name of the map. | |
| wait_localization | bool | False | Whether to wait for localization before returning. |
| timeout | float | 0.0 | Timeout duration for localization waiting (in seconds). |
| 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). |
| options | object | Additional options for setting the map. |
Return
If wait_location would return True if the robot is localized. If wait_location is False it will return true if the map changed correctly.
Exceptions
RayaWrongArgumentRayaNavUnknownMapNameRayaNavCurrentlyMapping
See the complete list of navigation exceptions.
Usage Example
Code:
...
class RayaApplication(RayaApplicationBase):
async def setup(self):
self.nav = await self.enable_controller('navigation')
...
async def loop(self):
...
robot_localized = await self.nav.set_map(
map_name=self.map_name,
wait_localization=True,
timeout=3.0,
callback_feedback=self.cb_set_map_feedback,
callback_finish=self.cb_set_map_finish
)
if not robot_localized:
self.log.error(f'Robot couldn\'t localize itself')
self.finish_app()
...
See the Navigate to click , nav_all_unity_apartment, nav_get_info to check some valid uses.
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