start_mapping()
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start_mapping()
- 1 Minute to read
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start_mapping()
Start creating a new map with the specified map_name as its name.
Reference
Arguments
| Arguments | Type | Default value | |
|---|---|---|---|
| options | object | Additional options for mapping. | |
| map_name | string | Name of the map to be created. |
Important note!
Check the "Gary Options" section for an example of options that are valid for Gary.
Gary options:
| Options | Type | Description |
|---|---|---|
| use_tags | bool | Enable apriltags detection in the mapping process. |
| marker_length | float | Apriltags size (all tags must be the same size). |
| marker_family | string | Family of apriltags for example "36h10" or "36h11". |
| marker_max_range | float | Maximun range to detect tags. |
Return
None
Exceptions
RayaNavMapAlreadyExistRayaNavAlreadyNavigatingRayaNavAlreadyMapping
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.start_mapping(self.map_name)
self.log.info(f'Using map \'{self.map_name}\'')
...
async def finish(self):
await self.navigation.stop_mapping(True)
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