Function	C++	Python	C#
Get localization status	✔	✔	✔
Get current position	✔	✔	✔
Add navigation waypoint	✔	✔	✔
Delete waypoint	✔	✔	✔
Get available waypoints	✔	✔	✔
Navigation control	✔	✔	✔
Cancel navigation	✔	✔	✔
Get navigation events	✔	✔	✔
Get navigation status	✔	✔	✔

Attention!!!

Map Requirements: Before using navigation interfaces, map files must be created by scanning the environment with LiDAR:
- External LiDAR Mapping: Use a phone or handheld LiDAR device for mapping (Format: PCD point cloud file, Coordinate System: Right-handed system, Z-axis up)
- Ensure the navigation area is completely scanned to generate point cloud information.
Mode Requirements: To start navigation control, the robot mode must be switched to navigation mode. This can be done via the companion controller app or by calling the "Set Control Mode" interface in the "High-Level Motion Service Interfaces" chapter in your program.
Navigation Workflow:
- Robot has no map or map needs changing: Mapping ---> Relocalization Success ---> Create Location ---> Execute Navigation (Location name or Coordinates)
- Robot has current environment map: Relocalization Success ---> Get Locations ---> Create Location (Optional) ---> Execute Navigation (Location name or Coordinates)
Current navigation supports straight-line walking and does not support automatic obstacle avoidance. When creating locations, ensure there are no obstacles on the straight line between two points.

Localization Interfaces

Python Interface

`Optional[Dict] get_localization_state()`

Function Description
Get localization state.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	No parameters.

Return Value

Type	Description
`Optional[Dict]`	Contains the following fields: - `success (bool)`: Whether the acquisition was successful - `loc_state (int)`: Localization state - `0`: NORMAL - `1`: LACKDATA - `2`: LOST

Call Example

python

from daystar_sdk.client import RobotClient
# Initialize client
with RobotClient(host='localhost', port=3232) as client:
    result = await client.get_localization_state()
    if result and result.get('success'):
        loc_state = result.get('loc_state')
        # ... logic omitted ...
        print(f"Localization State: {state_names.get(loc_state, 'Unknown')}")
    else:
        print(f"Failed to get localization state: {result.get('message') if result else 'Unknown error'}")

`Optional[Dict] get_current_pose()`

Function Description
Get current pose.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	No parameters.

Return Value

Type	Description
`Optional[Dict]`	Contains the following fields: - `success (bool)`: Whether the acquisition was successful - `message (str)`: Operation result message - `location_pose (Dict)`: Position and orientation info - `position (Dict)`: Position coordinates {x, y, z} - `orientation (Dict)`: Orientation quaternion

Call Example

python

from daystar_sdk.client import RobotClient
# Initialize client
with RobotClient(host='localhost', port=3232) as client:
    # Get pose
    result = await client.get_current_pose()
    if result and result.get('success'):
        pose = result.get('location_pose', {})
        # ... logic omitted ...
        print(f"Current Pose: x={orientation.get('x')}, y={orientation.get('y')}, z={orientation.get('z')}, w={orientation.get('w')}")
    else:
        print(f"Failed to get pose: {result.get('message') if result else 'Unknown error'}")

C# Interface

`(bool success, string message) Relocalization(bool autoRelocation, string locationName = null, PoseData locationPose = null, int id = 212, int timeoutMs = 10000)`

Function Description
Relocalization.

Parameter Description

Parameter Name	Type	Required/Default	Description
`autoRelocation`	`bool`	Required	Whether to auto-relocate.
`locationName`	`string`	Optional	Location name.
`locationPose`	`PoseData`	Optional	Location pose.
`id`	`int`	Default: 212	Request ID.
`timeoutMs`	`int`	Default: 10000	Timeout (ms).

Return Value

Type	Description
`(bool success, string message)`	Operation result tuple.

Call Example

csharp

// Call relocalization
var (success, message) = _navigationClient.Relocalization(true);
if (success)
{
    Debug.Log($"✓ Relocalization Successful");
}

`PoseStamped? GetCurrentPose(int id = 207, int timeoutMs = 5000)`

Function Description
Get current robot pose (Sync method).

Parameter Description

Parameter Name	Type	Required/Default	Description
`id`	`int`	Default: 207	Request ID.
`timeoutMs`	`int`	Default: 5000	Timeout (ms).

Return Value

Type	Description
`PoseStamped?`	Robot current pose information. Returns null on failure. Contains fields: - `header (Header)`: Message header - `stamp (string)`: Timestamp - `frame_id (string)`: Frame ID - `pose (Pose3D)`: Pose info - `position (Point3D)`: Position {x, y, z} - `orientation (Quaternion3D)`: Orientation

Call Example

csharp

var pose = _navigationClient.GetCurrentPose();
if (pose.HasValue)
{
    var position = pose.Value.pose.position;
    Debug.Log($"Position: ({position.x}, {position.y}, {position.z})");
}

`(bool success, int loc_state)? GetLocalizationStateSync(int id = 208, int timeoutMs = 5000)`

Function Description
Get localization state (Sync method).

Parameter Description

Parameter Name	Type	Required/Default	Description
`id`	`int`	Default: 208	Request ID.
`timeoutMs`	`int`	Default: 5000	Timeout (ms).

Return Value

Type	Description
`(bool success, int loc_state)?`	Localization state tuple, contains success flag and state value. Returns null on failure. `loc_state` values: - `0`: NORMAL - `1`: LACKDATA - `2`: LOST

Call Example

csharp

var result = _navigationClient.GetLocalizationStateSync(208, 5000);
if (result.HasValue)
{
    bool success = result.Value.success;
    int locState = result.Value.loc_state;
    Debug.Log($"Localization State: {locState}");
}

C++ Interface

`bool getLocalizationState(int &loc_state)`

Function Description
Get localization system state.

Parameter Description

Parameter Name	Type	Required/Default	Description
`loc_state`	`int &`	Required	Returns localization state.

Return Value

Type	Description
`bool`	`true` success, `false` failure.

Call Example

cpp

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    int loc_state;
    if (sysb.getLocalizationState(loc_state)) {
        std::cout << "Localization State: " << loc_state << std::endl;
    }
}

`bool getCurrentPose(Pose &current_pose)`

Function Description
Get robot current pose.

Parameter Description

Parameter Name	Type	Required/Default	Description
`current_pose`	`Pose &`	Required	Returns current pose information.

Return Value

Type	Description
`bool`	`true` success, `false` failure.

Call Example

cpp

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    Pose current_pose;
    if (sysb.getCurrentPose(current_pose)) {
        std::cout << "Current Pose: (" << current_pose.position.x << ", " << current_pose.position.y << ", " << current_pose.position.z << ")" << std::endl;
    }
}

Python Interface

`Optional[Dict] add_location(location_name, timeout=30)`

Function Description
Add navigation location.

Parameter Description

Parameter Name	Type	Required/Default	Description
`location_name`	`str`	Required	Location name.
`timeout`	`int`	Default: 30	Timeout in seconds.

Return Value

Type	Description
`Optional[Dict]`	Contains the following fields: - `success (bool)`: Whether added successfully - `message (str)`: Operation result message - `location_pose (Dict)`: Location pose info - `map_name (str)`: Map name

Call Example

python

from daystar_sdk import WebSocketRobotClient
# Initialize client
with WebSocketRobotClient(host='localhost', port=3232) as client:
    add_result = client.add_location("home_position", timeout=30)

C# Interface

`void AddLocation(string locationName, int timeout = 30, int id = 200)`

Function Description
Add current pose as a navigation location.

Parameter Description

Parameter Name	Type	Required/Default	Description
`locationName`	`string`	Required	Location name.
`timeout`	`int`	Default: 30	Timeout (seconds).
`id`	`int`	Default: 200	Request ID.

Return Value

Type	Description
`void`	No return value.

Call Example

csharp

string locationName = $"Location_{System.DateTime.Now:yyyyMMdd_HHmmss}";
var result = _navigationClient.AddLocation(locationName);
if (result.success)
{
    Debug.Log($"Successfully added location '{locationName}'");
}

C++ Interface

`bool addLocation(const std::string &location_name, int timeout = 30)`

Function Description
Add location point.

Parameter Description

Parameter Name	Type	Required/Default	Description
`location_name`	`const std::string &`	Required	Location name.
`timeout`	`int`	Default: 30	Timeout (seconds).

Return Value

Type	Description
`bool`	`true` success, `false` failure.

Call Example

cpp

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    if (sysb.addLocation("OfficeEntrance", 30)) {
        std::cout << "Location 'OfficeEntrance' added successfully" << std::endl;
    } else {
        std::cerr << "Failed to add location" << std::endl;
    }
}

Delete Location Interfaces

Python Interface

`Optional[Dict] delete_location(location_name)`

Function Description
Delete navigation location.

Parameter Description

Parameter Name	Type	Required/Default	Description
`location_name`	`str`	Required	Name of location to delete.

Return Value

Type	Description
`Optional[Dict]`	Contains the following fields: - `success (bool)`: Whether deleted successfully - `message (str)`: Operation result message

Call Example

python

from daystar_sdk import WebSocketRobotClient
# Initialize client
with WebSocketRobotClient(host='localhost', port=3232) as client:
    result = client.delete_location("position")

C# Interface

`void DeleteLocation(string locationName, int id = 201)`

Function Description
Delete specified navigation location.

Parameter Description

Parameter Name	Type	Required/Default	Description
`locationName`	`string`	Required	Name of location to delete.
`id`	`int`	Default: 201	Request ID.

Return Value

Type	Description
`void`	No return value.

Call Example

csharp

_navigationClient.DeleteLocation("location_name");

C++ Interface

`bool deleteLocation(const std::string &location_name)`

Function Description
Delete location point.

Parameter Description

Parameter Name	Type	Required/Default	Description
`location_name`	`const std::string &`	Required	Location name.

Return Value

Type	Description
`bool`	`true` success, `false` failure.

Call Example

cpp

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    if (sysb.deleteLocation("OfficeEntrance")) {
        std::cout << "Location 'OfficeEntrance' deleted successfully" << std::endl;
    } else {
        std::cerr << "Failed to delete location" << std::endl;
    }
}

Get Available Locations Interfaces

Python Interface

`Optional[Dict] get_available_locations()`

Function Description
Get existing locations.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	No parameters.

Return Value

Type	Description
`Optional[Dict]`	Contains the following fields: - `location_names (List[str])`: List of location names

Call Example

python

from daystar_sdk import WebSocketRobotClient
# Initialize client
with WebSocketRobotClient(host='localhost', port=3232) as client:
    result = client.get_available_locations()
    location_names = result.get('location_names', [])

C# Interface

`List<string> GetAvailableLocations(int id = 202, int timeoutMs = 5000)`

Function Description
Get all available navigation locations (Sync method, returns list directly).

Parameter Description

Parameter Name	Type	Required/Default	Description
`id`	`int`	Default: 202	Request ID.
`timeoutMs`	`int`	Default: 5000	Timeout (ms).

Return Value

Type	Description
`List<string>`	List of location names, returns empty list on failure.

Call Example

csharp

var locations = _navigationClient.GetAvailableLocations();
if (locations.Count > 0)
{
    foreach (var loc in locations)
    {
        Debug.Log($"Location: {loc}");
    }
}

C++ Interface

`bool getAvailableLocations(std::vector<std::string> &location_names, std::vector<Pose> &location_poses)`

Function Description
Get all available location points.

Parameter Description

Parameter Name	Type	Required/Default	Description
`location_names`	`std::vector<std::string> &`	Required	Returns list of location names.
`location_poses`	`std::vector<Pose> &`	Required	Returns list of location poses.

Return Value

Type	Description
`bool`	`true` success, `false` failure.

Call Example

cpp

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    std::vector<std::string> names;
    std::vector<Pose> poses;
    
    if (sysb.getAvailableLocations(names, poses)) {
        std::cout << "Available Locations:" << std::endl;
        # ... logic omitted ...
        }
    }
}

Python Interface

`Optional[Dict] navigate_to_location(location_name, timeout=60)`

Function Description
Navigate to preset location.

Parameter Description

Parameter Name	Type	Required/Default	Description
`location_name`	`str`	Required	Target location name.
`timeout`	`int`	Default: 60	Navigation timeout in seconds.

Return Value

Type	Description
`Optional[Dict]`	Contains the following fields: - `success (bool)`: Whether started successfully - `message (str)`: Operation result message

Call Example

python

from daystar_sdk import WebSocketRobotClient
# Initialize client
with WebSocketRobotClient(host='localhost', port=3232) as client:
    navigate_result = client.navigate_to_location("home_position", timeout=30)

`Optional[Dict] navigate_to_xyz(x, y, z, timeout=60, frame_id="map")`

Function Description
Navigate to specified coordinates.

Parameter Description

Parameter Name	Type	Required/Default	Description
`x`	`float`	Required	x coordinate.
`y`	`float`	Required	y coordinate.
`z`	`float`	Required	z coordinate.
`timeout`	`int`	Default: 60	Navigation timeout in seconds.
`frame_id`	`str`	Default: "map"	Frame ID.

Return Value

Type	Description
`Optional[Dict]`	Contains the following fields: - `success (bool)`: Whether started successfully - `message (str)`: Operation result message

Call Example

python

from daystar_sdk import WebSocketRobotClient
# Initialize client
with WebSocketRobotClient(host='localhost', port=3232) as client:
    navigate_result = client.navigate_to_xyz(x=5.0, y=3.0, z=0.0, timeout=30)

C# Interface

`void NavigateToLocation(string locationName, int timeout = 60, int id = 203)`

Function Description
Navigate to preset location point.

Parameter Description

Parameter Name	Type	Required/Default	Description
`locationName`	`string`	Required	Target location name.
`timeout`	`int`	Default: 60	Navigation timeout (seconds).
`id`	`int`	Default: 203	Request ID.

Return Value

Type	Description
`void`	No return value.

Call Example

csharp

_navigationClient.NavigateToLocation("location_name");

`void NavigateToPosition(float x, float y, float z, int timeout = 60, string frameId = "map", int id = 205)`

Function Description
Navigate to specified coordinate position (XYZ).

Parameter Description

Parameter Name	Type	Required/Default	Description
`x`	`float`	Required	x coordinate.
`y`	`float`	Required	y coordinate.
`z`	`float`	Required	z coordinate.
`timeout`	`int`	Default: 60	Navigation timeout (seconds).
`frameId`	`string`	Default: "map"	Frame ID.
`id`	`int`	Default: 205	Request ID.

Return Value

Type	Description
`void`	No return value.

Call Example

csharp

_navigationClient.NavigateToPosition(1.0f, 0.0f, 0.0f);

C++ Interface

`bool navigateToLocation(const std::string &location_name, int timeout = 60)`

Function Description
Navigate to specified location point.

Parameter Description

Parameter Name	Type	Required/Default	Description
`location_name`	`const std::string &`	Required	Target location name.
`timeout`	`int`	Default: 60	Timeout (seconds).

Return Value

Type	Description
`bool`	`true` success, `false` failure.

Call Example

cpp

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    if (sysb.navigateToLocation("OfficeEntrance", 60)) {
        std::cout << "Started navigation to 'OfficeEntrance'" << std::endl;
    } else {
        std::cerr << "Navigation start failed" << std::endl;
    }
}

`bool navigateToPosition(const PoseStamped &target_pose, int timeout = 60)`

Function Description
Navigate to specified pose.

Parameter Description

Parameter Name	Type	Required/Default	Description
`target_pose`	`const PoseStamped &`	Required	Target pose.
`timeout`	`int`	Default: 60	Timeout (seconds).

Return Value

Type	Description
`bool`	`true` success, `false` failure.

Call Example

cpp

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    // Create target pose
    auto target_pose = sysb.createPose(5.0f, 3.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, "map");
    
    if (sysb.navigateToPosition(target_pose, 60)) {
        std::cout << "Started navigation to specified pose" << std::endl;
    } else {
        std::cerr << "Navigation start failed" << std::endl;
    }
}

Python Interface

`Optional[Dict] cancel_navigation(task_id="")`

Function Description
Cancel navigation control.

Parameter Description

Parameter Name	Type	Required/Default	Description
`task_id`	`str`	Default: ""	Task ID, empty string indicates cancelling the current task.

Return Value

Type	Description
`Optional[Dict]`	Contains the following fields: - `success (bool)`: Whether cancelled successfully - `message (str)`: Operation result message

Call Example

python

from daystar_sdk import WebSocketRobotClient
# Initialize client
with WebSocketRobotClient(host='localhost', port=3232) as client:
    result = await client.cancel_navigation()
    if result and result.get('success'):
        print(f"Navigation cancelled successfully: {result.get('message')}")
    else:
        print(f"Failed to cancel navigation: {result.get('message') if result else 'Unknown error'}")

C# Interface

`void CancelNavigation(string taskId = "", int id = 206)`

Function Description
Cancel current navigation task.

Parameter Description

Parameter Name	Type	Required/Default	Description
`taskId`	`string`	Default: ""	Task ID, empty string indicates cancelling the current task.
`id`	`int`	Default: 206	Request ID.

Return Value

Type	Description
`void`	No return value.

Call Example

csharp

_navigationClient.CancelNavigation();

C++ Interface

`bool cancelNavigation(const std::string &task_id = "")`

Function Description
Cancel current navigation task.

Parameter Description

Parameter Name	Type	Required/Default	Description
`task_id`	`const std::string &`	Default: ""	Task ID (empty string indicates cancelling the current task).

Return Value

Type	Description
`bool`	`true` success, `false` failure.

Call Example

cpp

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    // Start navigation
    sysb.navigateToLocation("OfficeEntrance");
    
    // ... logic omitted ...
    }
}

Python Interface

`bool register_navigation_result(callback)`

Function Description
Register navigation result event callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
`callback`	`function`	Required	Callback function, must receive 2 arguments: - `result_type (str)`: Result type ("complete"

Return Value

Type	Description
`bool`	Returns `True` on success, `False` on failure.

Event Data Example

json

{
    "location_name": "Target Point A",
    // ... logic omitted ...
    "task_id": "nav_task_001"
}

Call Example

python

from daystar_sdk import WebSocketRobotClient

# Initialize client  
with WebSocketRobotClient(host='localhost', port=3232) as client:
    # Define navigation result callback
    # ... logic omitted ...
    success = await client.register_navigation_result(on_navigation_result)

`bool unregister_navigation_result()`

Function Description
Unregister navigation result callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	No parameters.

Return Value

Type	Description
`bool`	Returns `True` on success, `False` on failure.

`bool register_navigation_feedback(callback)`

Function Description
Register navigation feedback status callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
`callback`	`function`	Required	Callback function, receives 1 argument: - `data (Dict)`: Navigation feedback data

Return Value

Type	Description
`bool`	Returns `True` on success, `False` on failure.

Feedback Data Example

json

{
    "status": "navigating",
    // ... logic omitted ...
    "timestamp": 1693632001.456
}

Status Type Description

navigating: Navigating
paused: Navigation paused
idle: Idle
planning: Path planning
recovering: Recovering

Call Example

python

from daystar_sdk import WebSocketRobotClient

# Initialize client
with WebSocketRobotClient(host='localhost', port=3232) as client:
    # Define navigation feedback callback
    # ... logic omitted ...
    success = await client.register_navigation_feedback(on_navigation_feedback)

`bool unregister_navigation_feedback()`

Function Description
Unregister navigation feedback callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	No parameters.

Return Value

Type	Description
`bool`	Returns `True` on success, `False` on failure.

C# Interface

`bool RegisterNavigationResultCallback(Action<string, object> callback)`

Function Description
Register navigation result event callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
`callback`	`Action<string, object>`	Required	Callback function, receives 2 arguments: - `result` (string): Result type (e.g. "complete", "failed") - `data` (object): Event data

Return Value

Type	Description
`bool`	Returns `true` on success, `false` on failure.

Call Example

csharp

_navigationClient.RegisterNavigationResultCallback((result, data) =>
{
    Debug.Log($"Navigation Result: {result}, Data: {data}");
});

`bool UnregisterNavigationResultCallback()`

Function Description
Unregister navigation result callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	No parameters.

Return Value

Type	Description
`bool`	Returns `true` on success, `false` on failure.

Call Example

csharp

_navigationClient.UnregisterNavigationResultCallback();

`bool RegisterNavigationFeedbackCallback(Action<object> callback)`

Function Description
Register navigation feedback status callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
`callback`	`Action<object>`	Required	Callback function, receives 1 argument: - `feedback` (object): Navigation feedback data

Return Value

Type	Description
`bool`	Returns `true` on success, `false` on failure.

Call Example

csharp

_navigationClient.RegisterNavigationFeedbackCallback((feedback) =>
{
    if (feedback is string jsonString)
    // ... logic omitted ...
    }
});

`bool UnregisterNavigationFeedbackCallback()`

Function Description
Unregister navigation feedback callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	No parameters.

Return Value

Type	Description
`bool`	Returns `true` on success, `false` on failure.

Call Example

csharp

_navigationClient.UnregisterNavigationFeedbackCallback();

C++ Interface

`void setNavigationResultCallback(std::function<void(const std::string &, const std::string &)> callback)`

Function Description
Set navigation result callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
`callback`	`std::function<void(const std::string &, const std::string &)>`	Required	Callback function, receives 2 arguments: - `task_id` (std::string): Task ID - `result` (std::string): Navigation result data (JSON string)

Return Value

Type	Description
`void`	No return value.

`bool registerNavigationResult()`

Function Description
Register navigation result event.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	No parameters.

Return Value

Type	Description
`bool`	Returns `true` on success, otherwise `false`.

Call Example

cpp

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

// Set navigation result callback
sysb.setNavigationResultCallback([](const std::string &task_id, const std::string &result) {
    std::cout << "Navigation task " << task_id << " result: " << result << std::endl;
});

if (sysb.connect()) {
    sysb.registerNavigationResult();
    sysb.navigateToLocation("OfficeEntrance");
}

`void setNavigationFeedbackCallback(std::function<void(const std::string &)> callback)`

Function Description
Set navigation feedback callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
`callback`	`std::function<void(const std::string &)>`	Required	Callback function, receives 1 argument: - `feedback` (std::string): Navigation feedback data (JSON string)

Return Value

Type	Description
`void`	No return value.

`bool registerNavigationFeedback()`

Function Description
Register navigation feedback event.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	No parameters.

Return Value

Type	Description
`bool`	Returns `true` on success, otherwise `false`.

Call Example

cpp

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

// Set navigation feedback callback
sysb.setNavigationFeedbackCallback([](const std::string &feedback) {
    std::cout << "Navigation feedback: " << feedback << std::endl;
});

if (sysb.connect()) {
    sysb.registerNavigationFeedback();
    sysb.navigateToLocation("OfficeEntrance");
}

Service

SLAM Navigation Service Interface ​

Localization Interfaces ​

Python Interface ​

Optional[Dict] get_localization_state() ​

Optional[Dict] get_current_pose() ​

C# Interface ​

(bool success, string message) Relocalization(bool autoRelocation, string locationName = null, PoseData locationPose = null, int id = 212, int timeoutMs = 10000) ​

PoseStamped? GetCurrentPose(int id = 207, int timeoutMs = 5000) ​

(bool success, int loc_state)? GetLocalizationStateSync(int id = 208, int timeoutMs = 5000) ​

C++ Interface ​

bool getLocalizationState(int &loc_state) ​

bool getCurrentPose(Pose &current_pose) ​

Add Navigation Location ​

Python Interface ​

Optional[Dict] add_location(location_name, timeout=30) ​

C# Interface ​

void AddLocation(string locationName, int timeout = 30, int id = 200) ​

C++ Interface ​

bool addLocation(const std::string &location_name, int timeout = 30) ​

Delete Location Interfaces ​

Python Interface ​

Optional[Dict] delete_location(location_name) ​

C# Interface ​

void DeleteLocation(string locationName, int id = 201) ​

C++ Interface ​

bool deleteLocation(const std::string &location_name) ​

Get Available Locations Interfaces ​

Python Interface ​

Optional[Dict] get_available_locations() ​

C# Interface ​

List<string> GetAvailableLocations(int id = 202, int timeoutMs = 5000) ​

C++ Interface ​

bool getAvailableLocations(std::vector<std::string> &location_names, std::vector<Pose> &location_poses) ​

Navigation Control Interfaces ​

Python Interface ​

Optional[Dict] navigate_to_location(location_name, timeout=60) ​

Optional[Dict] navigate_to_xyz(x, y, z, timeout=60, frame_id="map") ​

C# Interface ​

void NavigateToLocation(string locationName, int timeout = 60, int id = 203) ​

void NavigateToPosition(float x, float y, float z, int timeout = 60, string frameId = "map", int id = 205) ​

C++ Interface ​

bool navigateToLocation(const std::string &location_name, int timeout = 60) ​

bool navigateToPosition(const PoseStamped &target_pose, int timeout = 60) ​

Cancel Navigation Control ​

Python Interface ​

Optional[Dict] cancel_navigation(task_id="") ​

C# Interface ​

void CancelNavigation(string taskId = "", int id = 206) ​

C++ Interface ​

bool cancelNavigation(const std::string &task_id = "") ​

Get Navigation Events Interfaces ​

Python Interface ​

bool register_navigation_result(callback) ​

bool unregister_navigation_result() ​

bool register_navigation_feedback(callback) ​

bool unregister_navigation_feedback() ​

C# Interface ​

bool RegisterNavigationResultCallback(Action<string, object> callback) ​

bool UnregisterNavigationResultCallback() ​

bool RegisterNavigationFeedbackCallback(Action<object> callback) ​

bool UnregisterNavigationFeedbackCallback() ​

C++ Interface ​

void setNavigationResultCallback(std::function<void(const std::string &, const std::string &)> callback) ​

bool registerNavigationResult() ​

void setNavigationFeedbackCallback(std::function<void(const std::string &)> callback) ​

bool registerNavigationFeedback() ​

SLAM Navigation Service Interface

Localization Interfaces

Python Interface

`Optional[Dict] get_localization_state()`

`Optional[Dict] get_current_pose()`

C# Interface

`(bool success, string message) Relocalization(bool autoRelocation, string locationName = null, PoseData locationPose = null, int id = 212, int timeoutMs = 10000)`

`PoseStamped? GetCurrentPose(int id = 207, int timeoutMs = 5000)`

`(bool success, int loc_state)? GetLocalizationStateSync(int id = 208, int timeoutMs = 5000)`

C++ Interface

`bool getLocalizationState(int &loc_state)`

`bool getCurrentPose(Pose &current_pose)`

Add Navigation Location

Python Interface

`Optional[Dict] add_location(location_name, timeout=30)`

C# Interface

`void AddLocation(string locationName, int timeout = 30, int id = 200)`

C++ Interface

`bool addLocation(const std::string &location_name, int timeout = 30)`

Delete Location Interfaces

Python Interface

`Optional[Dict] delete_location(location_name)`

C# Interface

`void DeleteLocation(string locationName, int id = 201)`

C++ Interface

`bool deleteLocation(const std::string &location_name)`

Get Available Locations Interfaces

Python Interface

`Optional[Dict] get_available_locations()`

C# Interface

`List<string> GetAvailableLocations(int id = 202, int timeoutMs = 5000)`

C++ Interface

`bool getAvailableLocations(std::vector<std::string> &location_names, std::vector<Pose> &location_poses)`

Navigation Control Interfaces

Python Interface

`Optional[Dict] navigate_to_location(location_name, timeout=60)`

`Optional[Dict] navigate_to_xyz(x, y, z, timeout=60, frame_id="map")`

C# Interface

`void NavigateToLocation(string locationName, int timeout = 60, int id = 203)`

`void NavigateToPosition(float x, float y, float z, int timeout = 60, string frameId = "map", int id = 205)`

C++ Interface

`bool navigateToLocation(const std::string &location_name, int timeout = 60)`

`bool navigateToPosition(const PoseStamped &target_pose, int timeout = 60)`

Cancel Navigation Control

Python Interface

`Optional[Dict] cancel_navigation(task_id="")`

C# Interface

`void CancelNavigation(string taskId = "", int id = 206)`

C++ Interface

`bool cancelNavigation(const std::string &task_id = "")`

Get Navigation Events Interfaces

Python Interface

`bool register_navigation_result(callback)`

`bool unregister_navigation_result()`

`bool register_navigation_feedback(callback)`

`bool unregister_navigation_feedback()`

C# Interface

`bool RegisterNavigationResultCallback(Action<string, object> callback)`

`bool UnregisterNavigationResultCallback()`

`bool RegisterNavigationFeedbackCallback(Action<object> callback)`

`bool UnregisterNavigationFeedbackCallback()`

C++ Interface

`void setNavigationResultCallback(std::function<void(const std::string &, const std::string &)> callback)`

`bool registerNavigationResult()`

`void setNavigationFeedbackCallback(std::function<void(const std::string &)> callback)`

`bool registerNavigationFeedback()`