Mapping Service Interfaces

Introduction

Mapping Service Interfaces:

Provides SLAM map creation, loading, and management functionality. A map must be loaded and localization completed before using navigation interfaces.

Purpose	Python
Start Mapping	✔
Stop Mapping and Save	✔
Load Map	✔
Get Available Maps	✔

Mapping Mode

Python Interface

start_mapping(timeout=120)

Function Description
Start SLAM mapping mode. The robot begins scanning and building a point cloud map of the surrounding environment. After starting, manually drive the robot through the target area to achieve full coverage.

Parameter Description

Parameter Name	Type	Required/Default	Description
timeout	int	120	Timeout in seconds for mapping mode to start.

Return Value

Type	Description
StartMappingResponse	state.code == 0 and success is True indicates mapping mode has started.

Example

from daystar_api.lowlevel_skills import start_mapping, stop_mapping
import time

# Start mapping
result = start_mapping()
if result.success:
    print("Mapping started, drive the robot to scan the area...")
    time.sleep(300)  # Drive robot for 5 minutes to scan
    stop_mapping("office_map")

---

stop_mapping(map_name, auto_reload=False, need_2d_map=True, block=True, timeout=30)

Function Description
Stop SLAM mapping, save the map file, and switch back to map localization mode.

Parameter Description

Parameter Name	Type	Required/Default	Description
map_name	str	Required	Name to save the map as.
auto_reload	bool	False	If True, automatically load this map after saving for immediate use.
need_2d_map	bool	True	Whether to also generate a 2D grid map.
block	bool	True	If True, block until map saving completes.
timeout	int	30	Timeout in seconds for the map saving operation.

Return Value

Type	Description
StopMappingResponse	state.code == 0 and success is True indicates map was saved successfully.

Example

from daystar_api.lowlevel_skills import stop_mapping

# Stop mapping and save, then auto-load
result = stop_mapping("office_floor1", auto_reload=True)
if result.success:
    print("Map saved and loaded")

Map Operations

Python Interface

load_map(map_name, auto_reload=True, timeout=30)

Function Description
Load an existing map from the map resource directory (/root/data/daystar_api/maps). After loading, automatically switches to localization mode.

Parameter Description

Parameter Name	Type	Required/Default	Description
map_name	str	Required	Map name (must exist in the resource directory).
auto_reload	bool	True	If True, load permanently (also used on next startup); if False, only for current session.
timeout	int	30	Timeout in seconds for loading to complete.

Return Value

Type	Description
LoadMapResponse	state.code == 0 and success is True indicates map loaded successfully.

Example

from daystar_api.lowlevel_skills import load_map

# Load map permanently
result = load_map("office_floor1")
if result.success:
    print("Map loaded successfully")

# Temporary load (current session only)
result = load_map("warehouse_map", auto_reload=False)

# Large map needs longer timeout
result = load_map("large_outdoor_map", timeout=60)

---

get_available_maps(timeout=5)

Function Description
Get a list of all available map names in the map resource directory.

Parameter Description

Parameter Name	Type	Required/Default	Description
timeout	int	5	Query timeout in seconds.

Return Value

Type	Description
GetAvailableMapsResponse	state.code == 0 indicates query succeeded; response.map_names is the list of map names; response.success is a boolean.

Example

from daystar_api.lowlevel_skills import get_available_maps, load_map

result = get_available_maps()
if result.response.success:
    print("Available maps:")
    for name in result.response.map_names:
        print(f"  - {name}")

# Check if target map exists
if "office_map" in result.response.map_names:
    load_map("office_map")