SLAM Navigation Service Interface

Function	C++	Python	C#	Java	ROS
Start Mapping	✔	✔	✔	✔	✔
Stop Mapping	✔	✔	✔	✔	✔
Load Map	✔	✔	✔	✔	✔
Get Map List	✔	✔	✔	✔	✔
Upload Map	✔	✔	✔	✔
Download Map	✔	✔	✔	✔
Get Localization State	✔	✔	✔	✔	✔
Get Current Pose	✔	✔	✔	✔	✔
Relocalization	✔	✔	✔	✔	✔
Add Navigation Location	✔	✔	✔	✔	✔
Add Virtual Location	✔	✔	✔	✔	✔
Delete Location	✔	✔	✔	✔	✔
Get Available Locations	✔	✔	✔	✔	✔
Navigation Control	✔	✔	✔	✔	✔
Multi-parameter Navigation	✔	✔	✔	✔	✔
Cancel Navigation	✔	✔	✔	✔	✔
Get Navigation Events	✔	✔	✔	✔	✔

Attention!!!

1. 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)

   ● Internal Robot LiDAR Mapping: Start/Stop mapping by calling SDK interfaces or using the SDK visualization panel tool. During mapping, remotely control the robot dog to move slowly. Upon successfully stopping mapping, the map will be saved in the robot dog, and you can choose whether to load the map for use.

   ● Ensure the navigation area is completely scanned to generate point cloud information.

2. 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.

3. 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)

4. 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.

Mapping Interfaces

Python Interface

Optional[Dict] start_mapping(timeout=10.0)

Function Description
Start mapping.

Parameter Description

Parameter Name	Type	Required/Default	Description
timeout	int	Default: 5	Timeout (seconds).

Return Value

Type	Description
Optional[Dict]	Contains operation result.

Call Example

from daystar_sdk import WebSocketRobotClient

with WebSocketRobotClient(host='localhost', port=5252) as client:
    result = await client.start_mapping()

Optional[Dict] stop_mapping(map_name, auto_reload=True, timeout=10.0)

Function Description
Stop mapping and save map.

Parameter Description

Parameter Name	Type	Required/Default	Description
map_name	str	Required	Name to save the map as.
auto_reload	bool	Default: True	Whether to automatically load this map after saving.
timeout	int	Default: 60	Timeout (seconds).

Return Value

Type	Description
Optional[Dict]	Contains operation result.

Call Example

from daystar_sdk import WebSocketRobotClient

with WebSocketRobotClient(host='localhost', port=5252) as client:
    result = await client.stop_mapping("office_map", auto_reload=True)

C# Interface

(bool success, string message) StartMapping(int id = 209, int timeoutMs = 10000)

Function Description
Start mapping task.

Parameter Description

Parameter Name	Type	Required/Default	Description
id	int	Default: 210	Request ID.
timeoutMs	int	Default: 5000	Timeout.

Return Value

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

Call Example

private RobotSDKManager _robotSDKManager;
private RobotNavigationClient _navigationClient;

_robotSDKManager = RobotSDKManager.Instance;
_navigationClient = _robotSDKManager.CreateRobotNavigationClient();

var result = _navigationClient.StartMapping();
if (result.success)
{
    Debug.Log("Start Mapping...");
}

(bool success, string message) StopMapping(string mapName, bool autoReload = true, int id = 210, int timeoutMs = 10000)

Function Description
Stop mapping and save.

Parameter Description

Parameter Name	Type	Required/Default	Description
mapName	string	Required	Map name.
autoReload	bool	Default: true	Whether to automatically load this map after saving.
id	int	Default: 211	Request ID.
timeoutMs	int	Default: 60000	Timeout.

Return Value

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

Call Example

private RobotSDKManager _robotSDKManager;
private RobotNavigationClient _navigationClient;

_robotSDKManager = RobotSDKManager.Instance;
_navigationClient = _robotSDKManager.CreateRobotNavigationClient();

var result = _navigationClient.StopMapping("office_v1");
if (result.success)
{
    Debug.Log("Map Saved Successful!");
}

Java Interface

void StartMapping(String mapName)

Function Description
Start mapping.

Parameter Description

Parameter Name	Type	Required/Default	Description
mapName	String	Required	Temporary map name (usually empty or used for identification).

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;

slamNaviClient.StartMapping("");

void StopMapping(String mapName, boolean autoReload)

Function Description
Stop mapping.

Parameter Description

Parameter Name	Type	Required/Default	Description
mapName	String	Required	Map name to save.
autoReload	bool	Default: true	Whether to automatically load this map after saving.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;

slamNaviClient.StopMapping("office_map", true);

C++ Interface

CommReply startMapping()

Function Description
Start mapping.

Return Value

Type	Description
CommReply	Contains success (bool) and message (string).

Call Example

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

if (sysb.connect()) {
    auto reply = sysb.startMapping();
    if (reply.success) {
        std::cout << "Mapping mode has been started." << std::endl;
    }
}

CommReply stopMapping(const std::string &map_name, bool auto_reload = true)

Function Description
Stop mapping.

Parameter Description

Parameter Name	Type	Required/Default	Description
mapName	String	Required	Map name to save.
autoReload	bool	Default: true	Whether to automatically load this map after saving.

Return Value

Type	Description
CommReply	Contains success (bool) and message (string).

Call Example

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

if (sysb.connect()) {
    auto reply = sysb.stopMapping("office_floor1");
    if (reply.success) {
        std::cout << "Mapping completed and saved." << std::endl;
    }
}

ROS2 Interface

Start Mapping

This interface is used to start the robot's mapping mode.

Service Name	Service Type	Role
/sdk/nav/start_mapping	api_msgs::srv::StartMapping	Server

Request Structure

Field Name	Type	Description
(None)	-	No parameters required.

Response Structure

Field Name	Type	Description
success	bool	Whether mapping started successfully.
message	string	Operation result message.

Call Example

ros2 service call /sdk/nav/start_mapping api_msgs/srv/StartMapping '{}'

Stop Mapping

This interface is used to stop mapping and save the map.

Service Name	Service Type	Role
/sdk/nav/stop_mapping	api_msgs::srv::StopMapping	Server

Request Structure

Field Name	Type	Description
map_name	string	Name to save the map as.
auto_reload	bool	Whether to automatically load the map after saving.
need_2d_map	bool	Whether to generate a 2D map.
block	bool	Whether to block until completion.
timeout	int32	Timeout (seconds).

Response Structure

Field Name	Type	Description
success	bool	Whether stopping and saving was successful.
message	string	Operation result message.

Call Example

ros2 service call /sdk/nav/stop_mapping api_msgs/srv/StopMapping '{map_name: "office_map", auto_reload: true, need_2d_map: false, block: true, timeout: 10}'

Map Management Interfaces

Python Interface

Optional[Dict] load_map(map_name, auto_reload=False, timeout=15.0)

Function Description
Load a specific map.

Parameter Description

Parameter Name	Type	Required/Default	Description
map_name	str	Required	Map name to load.
auto_reload	bool	Default: False	Whether to set as the default map (True: auto-load after robot reboot, False: load for current session only)
timeout	int	Default: 20	Timeout.

Return Value

Type	Description
Optional[Dict]	Contains success (bool) and message (str).

Call Example

from daystar_sdk import WebSocketRobotClient

with WebSocketRobotClient(host='localhost', port=5252) as client:
    result = await client.load_map("office_map")

Optional[Dict] get_map_list(timeout=10.0)

Function Description
Get list of available maps.

Parameter Description

Parameter Name	Type	Required/Default	Description
timeout	int	Default: 10	Timeout.

Return Value

Type	Description
Optional[Dict]	Contains maps list in result (List[str]).

Call Example

from daystar_sdk import WebSocketRobotClient

with WebSocketRobotClient(host='localhost', port=5252) as client:
    res = await client.get_map_list()
    print(res.get('map_names', []))

bool upload_map(map_name: str, map_data: bytes, progress_callback: Callable = None)

Function Description
Upload map file.

Parameter Description

Parameter Name	Type	Required/Default	Description
map_name	str	Required	Map name.
map_data	bytes	Required	Map file binary data.
progress_callback	Callable	Default: None	Progress callback (current, total, bytes).

Return Value

Type	Description
bool	Whether upload succeeded.

Call Example

with open("office.pcd", "rb") as f:
    await client.upload_map("office", f.read())

Optional[bytes] download_map(map_name: str, progress_callback: Callable = None)

Function Description
Download map file.

Parameter Description

Parameter Name	Type	Required/Default	Description
map_name	str	Required	Map name.
progress_callback	Callable	Default: None	Progress callback.

Return Value

Type	Description
Optional[bytes]	Map data if successful, None otherwise.

Call Example

data = await client.download_map("office")
if data:
    with open("office.pcd", "wb") as f:
        f.write(data)

C# Interface

(bool success, string message) LoadMap(string mapName, bool autoReload = false, int id = 211, int timeoutMs = 10000)

Function Description
Load a map.

Parameter Description

Parameter Name	Type	Required/Default	Description
map_name	str	Required	Map name.
autoReload	bool	Default: false	Whether to set as the default map (true: auto-load after robot reboot, false: load for current session only)
id	int	Default: 211	Request ID (can be ignored).
timeoutMs	int	Default: 10000	Timeout.

Return Value

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

Call Example

private RobotSDKManager _robotSDKManager;
private RobotNavigationClient _navigationClient;

_robotSDKManager = RobotSDKManager.Instance;
_navigationClient = _robotSDKManager.CreateRobotNavigationClient();

_navigationClient.LoadMap("office_map");

(bool success, string[] map_names, string message) GetMapList(int id = 213, int timeoutMs = 10000)

Function Description
Get map list.

Parameter Description

Parameter Name	Type	Required/Default	Description
id	int	Default: 213	Request ID (can be ignored)
timeoutMs	int	Default: 10000	Timeout duration

Return Value

Type	Description
(bool success, string[] map_names, string message)	Operation result tuple.

Call Example

private RobotSDKManager _robotSDKManager;
private RobotNavigationClient _navigationClient;

_robotSDKManager = RobotSDKManager.Instance;
_navigationClient = _robotSDKManager.CreateRobotNavigationClient();

var result = _navigationClient.GetMapList();
if (result.success)
{
    foreach(var name in result.map_names) Debug.Log(name);
}

(string status, string message) UploadMap(string mapName, byte[] mapData, int requestId = 300, int timeoutMs = 30000)

Function Description
Upload map file.

Parameter Description

Parameter Name	Type	Required/Default	Description
mapName	string	Required	Map name.
mapData	byte[]	Required	Map data.
requestId	int	Default: 300	Request ID.
timeoutMs	int	Default: 30000	Timeout.

Return Value

Type	Description
(string status, string message)	Operation result ("success" / "error").

Call Example

private RobotSDKManager _robotSDKManager;
private RobotNavigationClient _navigationClient;

_robotSDKManager = RobotSDKManager.Instance;
_navigationClient = _robotSDKManager.CreateRobotNavigationClient();

string localMapPath = "Assets/Maps/map.pcd";
byte[] mapData = System.IO.File.ReadAllBytes(localMapPath);

_navigationClient.RegisterUploadProgressCallback(OnUploadProgress); 
_navigationClient.UploadMap("office", mapData);


void OnUploadProgress(AssetTransferProgress progress)
{
    try
    {

        string displayText = $"【Upload Progress】\n" +
                           $"Request ID: {progress.request_id}\n" +
                           $"Chunk : {progress.completed_chunks}/{progress.total_chunks}\n" +
                           $"Byte : {FormatBytes(progress.transferred_bytes)}/{FormatBytes(progress.total_bytes)}\n" +
                           $"Progress: {progress.progress_percentage:F1}%\n" +
                           $"Status: {progress.status}";
        
        if (progress.is_completed)
        {
            if (progress.status == "completed")
            {
                displayText += "\n✓ Upload Success！";
            }
            else if (progress.status == "failed")
            {
                displayText += $"\n✗ Upload Failed: {progress.error_message}";
            }
        }
        
    }
    catch (Exception ex)
    {
        Debug.LogError($"Error in OnUploadProgress: {ex.Message}");
    }
}


_navigationClient.UnregisterUploadProgressCallback();

void DownloadMap(string mapName, int requestId = 301)

Function Description
Download map file (Result via callback).

Parameter Description

Parameter Name	Type	Required/Default	Description
mapName	string	Required	Map name.
requestId	int	Default: 301	Request ID.

Return Value

Type	Description
void	No return value (Must register callback).

Call Example

private RobotSDKManager _robotSDKManager;
private RobotNavigationClient _navigationClient;

_robotSDKManager = RobotSDKManager.Instance;
_navigationClient = _robotSDKManager.CreateRobotNavigationClient();

_navigationClient.RegisterDownloadProgressCallback(OnDownloadProgress); //Monitor download progress

_navigationClient.DownloadMap("office");

void OnDownloadProgress(AssetTransferProgress progress)
{
    try
    {
        string displayText = $"【Upload Progress】\n" +
                           $"Request ID: {progress.request_id}\n" +
                           $"Chunk : {progress.completed_chunks}/{progress.total_chunks}\n" +
                           $"Byte : {FormatBytes(progress.transferred_bytes)}/{FormatBytes(progress.total_bytes)}\n" +
                           $"Progress: {progress.progress_percentage:F1}%\n" +
                           $"Status: {progress.status}";
        Debug.Log($"[DownloadProgress] {progressText}");
        if (progress.is_completed)
        {
            if (progress.status == "completed")
            {
                displayText += "\n✓ Download Success！";
            }
            else if (progress.status == "failed")
            {
                displayText += $"\n✗ Download Failed: {progress.error_message}";
            }
        }
        
    }
    catch (Exception ex)
    {
        Debug.LogError($"Error in OnDownloadProgress: {ex.Message}");
    }
}

_navigationClient.UnregisterDownloadProgressCallback();

Java Interface

ServiceOperationResponse LoadMap(String mapName, boolean auto_reload)

Function Description
Load a specific map.

Parameter Description

Parameter Name	Type	Required/Default	Description
mapName	String	Required	Map name.
auto_reload	boolean	Required	Whether to auto reload.

Return Value

Type	Description
ServiceOperationResponse	Contains isSuccess() (boolean) and getMessage() (String).

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;

// Load map
slamNaviClient.LoadMap("office_map", true);

List<String> GetMapList()

Function Description
Get list of available maps.

Parameter Description

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

Return Value

Type	Description
List<String>	List of map names.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import java.util.List;

// Get map list
List<String> maps = slamNaviClient.GetMapList();
for (String map : maps) {
    System.out.println("Found map: " + map);
}

CompletableFuture<UploadResourceResponse> uploadMap(String mapName, byte[] data, int timeoutSeconds)

Function Description
Upload map file.

Parameter Description

Parameter Name	Type	Required/Default	Description
mapName	String	Required	Map name.
data	byte[]	Required	Map file binary data.
timeoutSeconds	int	Required	Timeout (seconds).

Return Value

Type	Description
CompletableFuture<UploadResourceResponse>	Async upload result, contains status and message.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import java.nio.file.Files;
import java.nio.file.Paths;

// Upload map
byte[] mapData = Files.readAllBytes(Paths.get("office.pcd"));
slamNaviClient.uploadMap("office", mapData, 30).thenAccept(response -> {
    if (response.isSuccess()) {
        System.out.println("Upload success");
    }
});

CompletableFuture<byte[]> downloadMap(String mapName, int timeoutSeconds)

Function Description
Download map file.

Parameter Description

Parameter Name	Type	Required/Default	Description
mapName	String	Required	Map name.
timeoutSeconds	int	Required	Timeout (seconds).

Return Value

Type	Description
CompletableFuture<byte[]>	Async returns map binary data.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import java.nio.file.Files;
import java.nio.file.Paths;

// Download map
slamNaviClient.downloadMap("office", 30).thenAccept(data -> {
    if (data != null) {
        try {
            Files.write(Paths.get("office.pcd"), data);
        } catch (Exception e) {
            e.printStackTrace();
        }
    }
});

C++ Interface

GetAvailableMapsReply getAvailableMaps()

Function Description
Get the list of all available maps.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	-

Return Value

Type	Description
GetAvailableMapsReply	Includes a success flag, a message, and a maps list of type std::vectorstd::string.

Call Example

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();
if (sysb.connect()) {
    auto reply = sysb.getAvailableMaps();
    for (const auto &map_name : reply.maps) {
        std::cout << "Found map: " << map_name << std::endl;
    }
}

CommReply loadMap(const std::string &map_name, bool auto_reload = false)

Function Description
Load map.

Parameter Description

Parameter Name	Type	Required/Default	Description
map_name	const std::string &	Required	Map name.
auto_reload	bool	Default: false	Set as default map? (true: auto-load after robot restart; false: load for current session only).

Return Value

Type	Description
CommReply	Includes a success flag, a message.

Call Example

Lenovo::Daystar::SDK sdk;
if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sysb = sdk.getSYSB();
if (sysb.connect()) {
    sysb.loadMap("office_map");
}

CommReply uploadMap(const std::string &map_name, const std::vector<uint8_t> &file_data)

Function Description
Upload map file.

Parameter Description

Parameter Name	Type	Required/Default	Description
map_name	const std::string &	Required	Map name.
file_data	const std::vector<uint_8> &	Required	Map data.

Return Value

Type	Description
CommReply	Includes a success flag, a message.

Call Example

// C++
Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sysb = sdk.getSYSB();
std::string name = getStringInput("Please enter the name for the uploaded map file: ");
std::string filepath = getStringInput("Please enter the path of the local map file: ");
// Read file data
std::ifstream file_stream(filepath, std::ios::binary);
if (!file_stream)
{
    std::cout << "✗ Failed to open the file: " << filepath << std::endl;
    break;
}
std::vector<uint8_t> file_data((std::istreambuf_iterator<char>(file_stream)), std::istreambuf_iterator<char>());
file_stream.close();

auto result = sysb.uploadMap(name, file_data);
if (result.success == true)
{
    std::cout << "✓ Map file uploaded successfully: " << name << std::endl;
}
else
{
    std::cout << "✗ Map file uploaded failed: " << result.message << std::endl;
}

CommReply downloadMap(const std::string &map_name, const std::vector<uint8_t> &file_data)

Function Description
Download map data.

Parameter Description

Parameter Name	Type	Required/Default	Description
map_name	const std::string &	Required	Map name.
file_data	const std::vector<uint_8> &	Required	Map data.

Return Value

Type	Description
CommReply	Includes a success flag, a message.

Call Example

// C++
Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sysb = sdk.getSYSB();
std::string name = getStringInput("Please enter the name of the map file to download: ");
std::vector<uint8_t> file_data;

auto result = sysb.downloadMap(name, file_data);
if (result.success == true)
{
    // save map date as .pcd
    std::string filename = name;
    if (filename.find(".pcd") == std::string::npos) {
        filename += ".pcd";
    }
                    
    std::string download_dir = ensureDownloadDir();
    std::string save_path = download_dir + "/" + filename;
                    
    std::ofstream out_file(save_path, std::ios::binary);
    if (!out_file) {
        std::cout << "✗ Failed to create the file: " << save_path << std::endl;
        break;
    }
                    
    out_file.write(reinterpret_cast<const char *>(file_data.data()), file_data.size());
    out_file.close();
                    
    if (out_file.fail()) {
        std::cout << "✗ File write failed: " << save_path << std::endl;
    } else {
        std::cout << "✓ Map file downloaded successfully" << std::endl;
        std::cout << "  File size: " << (file_data.size() / 1024.0 / 1024.0) << " MB" << std::endl;
        std::cout << "  Save to: " << save_path << std::endl;
    }
}
else
{
    std::cout << "✗ Map file download failed: " << result.message << std::endl;
}

ROS2 Interface

Load Map

This interface is used to load a specific map.

Service Name	Service Type	Role
/sdk/nav/load_map	api_msgs::srv::LoadMap	Server

Request Structure

Field Name	Type	Description
map_name	string	Map name.
auto_reload	bool	Whether to set as default map (true: auto-load on robot restart, false: load for current session only).

Response Structure

Field Name	Type	Description
success	bool	Whether loading was successful.
message	string	Operation result message.

Call Example

ros2 service call /sdk/nav/load_map api_msgs/srv/LoadMap '{map_name: "office_map", auto_reload: true}'

Get Map List

This interface is used to get a list of all available map names on the robot.

Service Name	Service Type	Role
/sdk/nav/get_available_maps	api_msgs::srv::GetA, location_name="", location_pose=None, timeout=60.0)

Function Description\ Relocalization.

Parameter Description

Parameter Name	Type	Required/Default	Description
auto_relocalization	bool	Required	Whether to auto-relocalize.
location_name	str	Default: ""	Location name (optional).
location_pose	Dict	Default: None	Location pose (optional).
timeout	float	Default: 60.0	Timeout (seconds)
Call Example

ros2 service call /sdk/nav/get_available_maps api_msgs/srv/GetAvailableMaps '{}'

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

from daystar_sdk.client import RobotClient
# Initialize client
with RobotClient(host='localhost', port=5252) 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

from daystar_sdk.client import RobotClient
# Initialize client
with RobotClient(host='localhost', port=5252) 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'}")

Optional[Dict] relocalization(auto_relocalization: bool, location_name: str = "", x: float = 0.0, y: float = 0.0, theta: float = 0.0, timeout: int = 20)

Function Description
Manual relocalization interface.

Parameter Description

Parameter Name	Type	Required/Default	Description
auto_relocalization	bool	Required	Whether to maintain current estimated pose (True) or use new parameters (False).
location_name	str	Default: ""	Location name to relocate to (used if auto_relocalization=False).
x	float	Default: 0.0	X coordinate (used if location_name is empty).
y	float	Default: 0.0	Y coordinate.
theta	float	Default: 0.0	Orientation angle.
timeout	int	Default: 20	Timeout in seconds.

Return Value

Type	Description
Optional[Dict]	Contains operation result.

Call Example

# 1. Auto Relocalization (keep current estimate)
await client.relocalization(auto_relocalization=True)

# 2. Relocalize to "Home"
await client.relocalization(auto_relocalization=False, location_name="Home")

# 3. Relocalize to specific coordinates
await client.relocalization(auto_relocalization=False, x=1.5, y=2.0, theta=0.0)

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

private RobotSDKManager _robotSDKManager;
private RobotNavigationClient _navigationClient;

_robotSDKManager = RobotSDKManager.Instance;
_navigationClient = _robotSDKManager.CreateRobotNavigationClient();

// 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

private RobotSDKManager _robotSDKManager;
private RobotNavigationClient _navigationClient;

_robotSDKManager = RobotSDKManager.Instance;
_navigationClient = _robotSDKManager.CreateRobotNavigationClient();

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

private RobotSDKManager _robotSDKManager;
private RobotNavigationClient _navigationClient;

_robotSDKManager = RobotSDKManager.Instance;
_navigationClient = _robotSDKManager.CreateRobotNavigationClient();

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}");
}

Java Interface

int GetLocalizationState()

Function Description
Get current localization state.

Parameter Description

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

Return Value

Type	Description
int	Localization state code. - 0: NORMAL - 1: LACKDATA - 2: LOST

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;

// Get localization state
int state = slamNaviClient.GetLocalizationState();
String stateStr;
switch (state) {
    case 0: stateStr = "NORMAL"; break;
    case 1: stateStr = "LACKDATA"; break;
    case 2: stateStr = "LOST"; break;
    default: stateStr = "Unknown(" + state + ")"; break;
}
System.out.println("Localization State: " + stateStr);

LocationPose GetCurrentLocationPose()

Function Description
Get robot current pose (structured object form).

Parameter Description

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

Return Value

Type	Description
LocationPose	Current pose object. Contains fields: - position (Point3D): Position coordinates {x, y, z} - orientation (Quaternion3D): Orientation quaternion

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import com.lenovo.daystar_bot_sdk_client.DataEntities.LocationPose;

// Get current pose
LocationPose pose = slamNaviClient.GetCurrentLocationPose();
String poseStr = String.format("Position: (%.3f, %.3f, %.3f)\nOrientation: (%.3f, %.3f, %.3f, %.3f)",
    pose.position.x, pose.position.y, pose.position.z,
    pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w);
System.out.println(poseStr);

void Relocalization(boolean auto_relocalization, String locationName, LocationPose virtual_pose)

Function Description
Trigger relocalization manually.

Parameter Description

Parameter Name	Type	Required/Default	Description
auto_relocalization	boolean	Required	Whether to use auto relocalization (maintain current estimate).
locationName	String	Required	Target location name (if !auto_relocalization).
virtual_pose	LocationPose	Required	Target pose structure (if locationName is empty).

Return Value

Type	Description
void	No return value.

Call Example

// Auto relocalization
slamNaviClient.Relocalization(true, "", null);

void AutoRelocalization()

Function Description
Trigger automatic relocalization.

Return Value

Type	Description
void	No return value.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;

slamNaviClient.AutoRelocalization();
System.out.println("Trigger automatic relocalization.");

void RelocateWithName(boolean autoRelocalize, String locationName)

Function Description
Relocalize using a named position point.

Parameter Description

Parameter Name	Type	Required/Default	Description
autoRelocalize	boolean	Required	Whether to attempt automatic relocalization first.
locationName	String	Required	Name of the position point.

Return Value

Type	Description
void	No return value.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;

slamNaviClient.RelocateWithName(true, "home_position");

void RelocateWithPosition(boolean autoRelocalize, LocationPose poseData)

Function Description
Relocalize using the specified pose.

Parameter Description

Parameter Name	Type	Required/Default	Description
autoRelocalize	boolean	Required	Whether to attempt automatic relocalization first.
poseData	LocationPose	Required	Target pose (including position and orientation).

Return Value

Type	Description
void	No return value.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import com.lenovo.daystar_bot_sdk_client.DataEntities.LocationPose;


LocationPose pose = new LocationPose(/* args */);
slamNaviClient.RelocateWithPosition(true, pose);

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

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

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;
    }
}

CommReply relocalization(bool auto_relocalization, const std::string &location_name, const Pose &virtual_pose, int timeout = 20)

Function Description
Trigger relocalization.

Parameter Description

Parameter Name	Type	Required/Default	Description
auto_relocalization	bool	Required	Auto relocalization flag.
location_name	const std::string &	Required	Location name target.
virtual_pose	const Pose &	Required	Coordinate target.
timeout	int	Default: 20	Timeout (seconds).

Return Value

Type	Description
CommReply	Contains success (bool) and message (string).

Call Example

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

if (sysb.connect()) {
    auto reply = sysb.relocalization(true, "", Pose());
    if (reply.success) {
        std::cout << "Relocation command has been sent." << std::endl;
    }
}

ROS2 Interface

GetLocalization State

This interface is used to obtain the current positioning status of the robot.

Service Name	Service Type	Role
/sdk/nav/get_localization_state	api_msgs::srv::GetLocalizationState	Server

Response Structure

Field Name	Type	Description
success	bool	Whether the acquisition is successful
loc_state	uint8	Location status code
message	string	Operation result information

Location status code

Value	Description
0	NORMAL (Normal positioning)
1	LACKDATA (Insufficient data)
2	LOST (Positioning lost)

Call Example

ros2 service call /sdk/nav/get_localization_state api_msgs/srv/GetLocalizationState '{}'

Get Current Position

This interface is used to obtain the current coordinate position of the robot on the map (only available when positioning status is normal).

Service Name	Service Type	Role
/sdk/nav/get_current_pose	api_msgs::srv::GetCurrentPose	Server

Response Structure

Field Name	Type	Description
location_pose	geometry_msgs/Pose	Current position and posture of the robot.
success	bool	Whether the acquisition is successful.
message	string	Operation result information.

Call Example

ros2 service call /sdk/nav/get_current_pose api_msgs/srv/GetCurrentPose '{}'

Relocalization

This interface is used to trigger robot relocation, allowing automatic relocation or manual position specification.

Service Name	Service Type	Role
/sdk/nav/set_localization	api_msgs::srv::SetLocalization	Server

Request Structure

Field Name	Type	Description
auto_relocation	bool	Whether to relocate automatically (the last two parameters are ignored when true).
location_name	string	Name of the specified relocation point (optional, pass an empty string).
location_pose	geometry_msgs/Pose	Coordinates for the specified relocation (optional).

Response Structure

Field Name	Type	Description
success	bool	Whether the relocation command was sent successfully.
message	string	Operation result information.

Call Example

ros2 service call /sdk/nav/set_localization api_msgs/srv/SetLocalization '{auto_relocation: true, location_name: ""}'

Add Navigation Location

Python Interface

Optional[Dict] add_location(location_name: str, use_virtual_pose: bool = False, x: float = 0.0, y: float = 0.0, theta: float = 0.0, timeout: int = 30)

Function Description
Add navigation location.

Parameter Description

Parameter Name	Type	Required/Default	Description
location_name	str	Required	Location name.
use_virtual_pose	bool	Default: False	Whether to use virtual coordinates instead of current robot pose.
x	float	Default: 0.0	X coordinate (if use_virtual_pose=True).
y	float	Default: 0.0	Y coordinate (if use_virtual_pose=True).
theta	float	Default: 0.0	Orientation angle (if use_virtual_pose=True).
timeout	int	Default: 30	Timeout in seconds.

Return Value

Type	Description
Optional[Dict]	Contains operation result.

Call Example

from daystar_sdk import WebSocketRobotClient
# Initialize client
with WebSocketRobotClient(host='localhost', port=5252) as client:
    # Add current location
    client.add_location("home_position")
    # Add virtual location
    client.add_location("virtual_point", use_virtual_pose=True, x=1.0, y=2.0)

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

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

(bool success, string message) AddLocation(string locationName, bool useVirtualPose, PoseData virtualPose, int id = 200, int timeoutMs = 30000)

Function Description
Add navigation location (supports virtual pose).

Parameter Description

Parameter Name	Type	Required/Default	Description
locationName	string	Required	Location name.
useVirtualPose	bool	Required	Use virtual pose flag.
virtualPose	PoseData	Required	Virtual pose data.
id	int	Default: 200	Request ID.
timeoutMs	int	Default: 30000	Timeout.

Return Value

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

Call Example

var vPose = new PoseData();
_navigationClient.AddLocation("v_point", true, vPose);

Java Interface

void AddLocation(String locationName, boolean use_virtual_pose, LocationPose virtual_pose)

Function Description
Add a named location point (waypoint/marker).

Parameter Description

Parameter Name	Type	Required/Default	Description
locationName	String	Required	Location point name.
use_virtual_pose	boolean	Required	Whether to use virtual pose. Pass false to use current robot pose.
virtual_pose	LocationPose	Optional	Virtual pose. Must provide when use_virtual_pose is true, otherwise pass null.

Return Value

Type	Description
void	No return value.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;

// Add current position as navigation location
String locationName = "home_position";
slamNaviClient.AddLocation(locationName, false, null);
System.out.println("✓ 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

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;
    }
}

bool addLocation(const std::string &location_name, bool use_virtual_pose, const Pose &virtual_pose, int timeout = 30)

Function Description
Add navigation location (virtual pose support).

Parameter Description

Parameter Name	Type	Required/Default	Description
location_name	const std::string &	Required	Location name.
use_virtual_pose	bool	Required	Use virtual pose flag.
virtual_pose	const Pose &	Required	Virtual pose data.
timeout	int	Default: 30	Timeout.

Return Value

Type	Description
bool	Success flag.

Call Example

Pose p;
sysb.addLocation("v_pt", true, p);

ROS2 Interface

Add Navigation Location

This interface is used to add a navigation location at the robot's current position or at specified virtual coordinates.

Service Name	Service Type	Role
/sdk/nav/add_location	api_msgs::srv::AddLocation	Server

Request Structure

Field Name	Type	Description
location_name	string	Location name.
timeout	int32	Timeout (seconds).
use_virtual_pose	bool	Whether to use virtual coordinates to add the location (uses virtual_pose if true).
virtual_pose	geometry_msgs/Pose	Virtual location coordinates (effective when use_virtual_pose is true).

Response Structure

Field Name	Type	Description
location_pose	geometry_msgs/Pose	The actual saved location coordinates.
map_name	string	The name of the map it belongs to.
success	bool	Whether adding was successful.
message	string	Operation result message.

Call Example

# Add a location at the current position
ros2 service call /sdk/nav/add_location api_msgs/srv/AddLocation '{location_name: "OfficeEntrance", timeout: 30, use_virtual_pose: false}'

# Add a virtual location
ros2 service call /sdk/nav/add_location api_msgs/srv/AddLocation '{location_name: "VirtualPointA", timeout: 30, use_virtual_pose: true, virtual_pose: {position: {x: 1.0, y: 2.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}'

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

from daystar_sdk import WebSocketRobotClient
# Initialize client
with WebSocketRobotClient(host='localhost', port=5252) as client:
    result = client.delete_location("position")

C# Interface

(bool success, string message) DeleteLocation(string locationName, int id = 201, int timeoutMs = 5000)

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.
timeoutMs	int	Default: 5000	Timeout (ms).

Return Value

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

Call Example

var result = _navigationClient.DeleteLocation("location_name");
if (result.success)
{
    Debug.Log("Delete success"); 
}

Java Interface

void DeleteLocation(String locationName)

Function Description
Delete a named location point.

Parameter Description

Parameter Name	Type	Required/Default	Description
locationName	String	Required	Name of location to delete.

Return Value

Type	Description
void	No return value.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;

// Delete location point
String locationName = "home_position";
slamNaviClient.DeleteLocation(locationName);
System.out.println("✓ Successfully deleted location: " + locationName);

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

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;
    }
}

ROS2 Interface

Delete point

This interface is used to delete the navigation point with the specified name.

Service Name	Service Type	Role
/sdk/nav/delete_location	api_msgs::srv::DeleteLocation	Server

Request Structure

Field Name	Type	Description
location_name	string	Name of the point to be deleted.

Response Structure

Field Name	Type	Description
success	bool	Whether deletion is successful
message	string	Operation result information

Call Example

ros2 service call /sdk/nav/delete_location api_msgs/srv/DeleteLocation '{location_name: "office_1"}'

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

from daystar_sdk import WebSocketRobotClient
# Initialize client
with WebSocketRobotClient(host='localhost', port=5252) 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

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

Java Interface

List<String> GetLocationList()

Function Description
Get saved location point name list.

Parameter Description

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

Return Value

Type	Description
List<String>	List of location point names.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import java.util.List;

// Get location list
List<String> locations = slamNaviClient.GetLocationList();
System.out.println("✓ Got " + locations.size() + " locations:");
for (String loc : locations) {
    System.out.println("  - " + loc);
}

LocationListDetails GetLocationListDetails()

Function Description
Get detailed list of saved location points.

Parameter Description

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

Return Value

Type	Description
LocationListDetails	Object containing detailed location information.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import com.lenovo.daystar_bot_sdk_client.DataEntities.LocationListDetails;

LocationListDetails details = slamNaviClient.GetLocationListDetails();
// Process details data

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

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 ...
        
    }
}

ROS2 Interface

Get Avaliable Locations

This interface is used to obtain the list of all saved navigation points in the current map.

Service Name	Service Type	Role
/sdk/nav/get_available_locations	api_msgs::srv::GetAvailableLocations	Server

Response Structure

Service Name	Service Type	Role
success	bool	Whether the acquisition is successful
location_names	string[]	List of point names
location_poses	geometry_msgs/Pose[]	List of corresponding point coordinates
message	string	Operation result information

Call Example

ros2 service call /sdk/nav/get_available_locations api_msgs/srv/GetAvailableLocations '{}'

Navigation Control Interfaces

In the navigation control interface, detailed navigation behaviors can be configured via the TravelParams object.

Navigation Parameters Description (MsgTravelParams)

Parameter Name	Type	Description	Values/Notes
speed_mode	int	Speed Mode	0=UNKNOWN, 1=NORMAL, 2=LOW, 3=HIGH
distance_tolerance	float	Distance Tolerance	Threshold for goal reached, Unit: meters
gait	int	Gait Mode	1=AUTO, 2=TROT, 3=CRAWL, 4=AMBLE, 5=SLOPE, 7=NORMAL_STAIR, etc.
path_following_mode	int	Path Following Mode	0=UNKNOWN, 1=DEFAULT, 2=OFF (Free Nav), 3=AUTO, 4=STRICT
direction_constraint	int	Direction Constraint	1=NONE, 2=NO_TURN, 3=FORWARD, 4=REVERSE
ignore_final_yaw	bool	Ignore Final Yaw	true=Ignore, false=Match
disable_body_obstacle_avoidance	bool	Disable Obstacle Avoidance	true=Disable, false=Enable

Python Interface

Optional[Dict] navigate_to_location(location_name, timeout=60, travel_params=None)

Function Description
Navigate to preset location. Can specify detailed navigation parameters via travel_params.

Parameter Description

Parameter Name	Type	Required/Default	Description
location_name	str	Required	Target location name.
timeout	int	Default: 60	Navigation timeout in seconds.
travel_params	MsgTravelParams	Default: None	Navigation parameters object (from daystar_api import MsgTravelParams).

Return Value

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

Call Example

from daystar_sdk import WebSocketRobotClient
from daystar_api import MsgTravelParams

# Initialize client
with WebSocketRobotClient(host='localhost', port=5252) as client:
    # Default navigation
    client.navigate_to_location("home_position")

    # Navigation with parameters
    params = MsgTravelParams()
    params.speed_mode = 2 # LOW
    client.navigate_to_location("office", timeout=30, travel_params=params)

Optional[Dict] navigate_to_xyz(x, y, z, timeout=60, frame_id="map", travel_params=None)

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.
travel_params	MsgTravelParams	Default: None	Navigation parameters object.

Return Value

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

Call Example

from daystar_sdk import WebSocketRobotClient
from daystar_api import MsgTravelParams

# Initialize client
with WebSocketRobotClient(host='localhost', port=5252) as client:
    params = MsgTravelParams()
    params.path_following_mode = 2 # OFF (Free Nav)
    client.navigate_to_xyz(x=5.0, y=3.0, z=0.0, timeout=30, travel_params=params)

C# Interface

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

Function Description
Navigate to preset location point (with detailed parameters).

Parameter Description

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

Return Value

Type	Description
void	No return value.

Call Example

var params = new TravelParams();
params.speed_mode = 2; // Low speed
_navigationClient.NavigateToLocation("location_name", params);

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

Function Description
Navigate to specified coordinate position (with detailed parameters).

Parameter Description

Parameter Name	Type	Required/Default	Description
x, y, z	float	Required	Target coordinates.
travelParams	TravelParams	Required	Navigation parameters object.
timeout	int	Default: 60	Navigation timeout.
frameId	string	Default: "map"	Frame ID.
id	int	Default: 205	Request ID.

Return Value

Type	Description
void	No return value.

Call Example

var params = new TravelParams();
params.path_following_mode = 1; // Default
_navigationClient.NavigateToPosition(1.0f, 0.0f, 0.0f, params);

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

_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

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

Java Interface

void NavigateToLocation(String locationName, Optional<MsgTravelParams> params, int timeout)

Function Description
Navigate to specified named location point.

Parameter Description

Parameter Name	Type	Required/Default	Description
locationName	String	Required	Target location point name.
params	Optional<MsgTravelParams>	Required	Navigation parameter configuration. Pass Optional.empty() for default parameters.
timeout	int	Required	Navigation timeout (unit: seconds).

Return Value

Type	Description
void	No return value.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import java.util.Optional;

// Navigate to location
String locationName = "home_position";
int timeout = 60;
slamNaviClient.NavigateToLocation(locationName, Optional.empty(), timeout);
System.out.println("✓ Started navigation to location: " + locationName);

void NavigateToPosition(LocationPose pose, Optional<MsgTravelParams> params, int timeout, String frameId)

Function Description
Navigate to specified coordinate pose.

Parameter Description

Parameter Name	Type	Required/Default	Description
pose	LocationPose	Required	Target pose.
params	Optional <MsgTravelParams>	Required	Navigation parameters.
timeout	int	Required	Navigation timeout (unit: seconds).
frameId	String	Required	Frame ID (e.g., "map")

Return Value

Type	Description
void	No return value.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import com.lenovo.daystar_bot_sdk_client.DataEntities.*;
import java.util.Optional;

// Navigate to coordinate position
LocationPose pose = new LocationPose(
    new Point3D(1.0f, 0.0f, 0.0f),
    new Quaternion3D(0.0f, 0.0f, 0.0f, 1.0f)
);
slamNaviClient.NavigateToPosition(pose, Optional.empty(), 60, "map");
System.out.println("✓ Started navigation to coordinates: (1.0, 0.0, 0.0)");

void NavigateViaPoses(List<PoseStamped> exec_waypoints, Optional<MsgTravelParams> params, int execType)

Function Description
Navigate via a sequence of poses (Path Navigation).

Parameter Description

Parameter Name	Type	Required/Default	Description
exec_waypoints	List<PoseStamped>	Required	List of waypoints.
params	Optional<MsgTravelParams>	Required	Navigation parameters.
execType	int	Required	Execution type.

Return Value

Type	Description
void	No return value.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import java.util.Collections;
import java.util.Optional;

// Path navigation example
slamNaviClient.NavigateViaPoses(Collections.emptyList(), Optional.empty(), 0);

C++ Interface

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

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).
travel_params	const MsgTravelParams &	Default: Default ctor	Navigation parameters object.

Return Value

Type	Description
bool	true success, false failure.

Call Example

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

// Default navigation
if (sysb.connect()) {
    if (sysb.navigateToLocation("OfficeEntrance", 60)) {
        std::cout << "Started navigation to 'OfficeEntrance'" << std::endl;
    }
}

// Navigation with parameters
if (sysb.connect()) {
    MsgTravelParams params;
    params.speed_mode.value = 2; // LOW
    sysb.navigateToLocation("MeetingRoom", 60, params);
}

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

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).
travel_params	const MsgTravelParams &	Default: Default ctor	Navigation parameters object.

Return Value

Type	Description
bool	true success, false failure.

Call Example

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");
    
    // Navigation with parameters
    MsgTravelParams params;
    params.ignore_final_yaw = true;
    sysb.navigateToPosition(target_pose, 60, params);
}

ROS2 Interface

Navigate to the specified point.

This interface is used to control the robot to navigate to a saved named point.

Service Name	Service Type	Role
/sdk/nav/navigate_to_location	api_msgs::srv::NavigateToLocation	Server

Request Structure

Field Name	Type	Description
location_name	string	Target point name.
travel_params	api_msgs/TravelParams	Navigation parameters (optional, default values are used if not filled).
timeout	int32	Timeout duration (seconds).

Response Structure

Field Name	Type	Description
success	bool	Whether navigation is completed successfully.
message	string	Operation result information.

Call Example

ros2 service call /sdk/nav/navigate_to_location api_msgs/srv/NavigateToLocation '{location_name: "office_1", timeout: 60}'

Navigate to Specified Coordinates

Navigate to Specified Coordinates This interface is used to control the robot to navigate to the specified coordinate position on the map.

Service Name	Service Type	Role
/sdk/nav/navigate_to_position	api_msgs::srv::NavigateToPosition	Server

Request Structure

Field Name	Type	Description
target_pose	geometry_msgs/PoseStamped	Target position and posture (including frame_id).
travel_params	api_msgs/TravelParams	Navigation parameters (optional; default values apply if not provided).
timeout	int32	Timeout (seconds).

Response Structure

Field Name	Type	Description
success	bool	Whether navigation is completed successfully.
message	string	Operation result information.

Call Example

ros2 service call /sdk/nav/navigate_to_position api_msgs/srv/NavigateToPosition '{target_pose: {header: {frame_id: "map"}, pose: {position: {x: 5.0, y: 3.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}, timeout: 60}'

Multi-waypoint navigation

This interface is used to control the robot to complete navigation by passing through multiple waypoints in sequence.

Service Name	Service Type	Role
/sdk/nav/navigation_via_poses	api_msgs::srv::NavigationViaPoses	Server

Request Structure

Field Name	Type	Description
exec_waypoints	geometry_msgs/PoseStamped[]	Waypoint list (executed in sequence).
exec_type	uint8	Execution mode.
travel_params	api_msgs/TravelParams	Navigation parameters (optional, default values are used if not provided).

exec_type value

Value	Description
1	AUTONOMOUS
2	STRICTTRACK
3	FITTING_STRAIGHT
4	FITTING_CIRCULAR
5	FITTING_SINE

Response Structure

Field Name	Type	Description
success	bool	Whether navigation is completed successfully.
message	string	Operation result information.

Call Example

ros2 service call /sdk/nav/navigation_via_poses api_msgs/srv/NavigationViaPoses '{exec_type: 1, exec_waypoints: [{header: {frame_id: "map"}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}]}'

Cancel Navigation Control

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

from daystar_sdk import WebSocketRobotClient
# Initialize client
with WebSocketRobotClient(host='localhost', port=5252) 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

_navigationClient.CancelNavigation();

Java Interface

void CancelNavigation(String taskId)

Function Description
Cancel navigation task.

Parameter Description

Parameter Name	Type	Required/Default	Description
taskId	String	Required	Task ID. Pass empty string "" to cancel current task.

Return Value

Type	Description
void	No return value.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;

// Cancel current navigation task
slamNaviClient.CancelNavigation("");
System.out.println("✓ Cancel navigation command sent");

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

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

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

ROS2 Interface

Cancel Naviagtion

This interface is used to cancel the currently executing navigation task.

Service Name	Service Type	Role
/sdk/nav/cancel_navigation	api_msgs::srv::CancelNavigation	Server

Request Structure

Field Name	Type	Description
task_id	string	Task ID (An empty string indicates canceling the current task).

Response Structure

Field Name	Type	Description
success	bool	Whether the cancellation is successful.
message	string	Operation result information.

Call Example

ros2 service call /sdk/nav/cancel_navigation api_msgs/srv/CancelNavigation '{task_id: ""}'

Get Navigation Events Interfaces

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

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

Call Example

from daystar_sdk import WebSocketRobotClient

# Initialize client  
with WebSocketRobotClient(host='localhost', port=5252) 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

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

Status Type Description

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

Call Example

from daystar_sdk import WebSocketRobotClient

# Initialize client
with WebSocketRobotClient(host='localhost', port=5252) 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

_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

_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

_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

_navigationClient.UnregisterNavigationFeedbackCallback();

Java Interface

void RegisterNavigationResultCallback(ServiceHandler<NavCompleteRequest, NavCompleteResponse> onComplete, ServiceHandler<NavFailedRequest, NavFailedResponse> onFailed)

Function Description
Register navigation result callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
onComplete	ServiceHandler<NavCompleteRequest, NavCompleteResponse>	Required	Navigation completion callback handler.
onFailed	ServiceHandler<NavFailedRequest, NavFailedResponse>	Required	Navigation failure callback handler.

Return Value

Type	Description
void	No return value.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import com.lenovo.daystar_bot_sdk_client.DataEntities.*;

// Register navigation result callback
slamNaviClient.RegisterNavigationResultCallback(
    // Navigation complete callback
    (request, response) -> {
        System.out.println("✓ Navigation complete: " + request.location_name);
        return response;
    },
    // Navigation failed callback
    (request, response) -> {
        System.out.println("✗ Navigation failed: " + request.message);
        return response;
    }
);

void RegisterNarrowRoadInfo(Consumer<NarrowRoadInfo> callback)

Function Description
Register narrow road intelligence info callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
callback	Consumer<NarrowRoadInfo>	Required	Narrow road info callback.

Return Value

Type	Description
void	No return value.

void UnregisterNarrowRoadInfo()

Function Description
Unregister narrow road intelligence info callback.

Parameter Description

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

Return Value

Type	Description
void	No return value.

void RegisterNavigationFeedbackCallback(Consumer<NavigationFeedback> callback)

Function Description
Register navigation process feedback callback.

Parameter Description

Parameter Name	Type	Required/Default	Description
callback	Consumer<NavigationFeedback>	Required	Feedback callback. Receives real-time status and progress information during navigation execution.

Return Value

Type	Description
void	No return value.

Call Example

import com.lenovo.daystar_bot_sdk_client.client.SlamNaviClient;
import com.lenovo.daystar_bot_sdk_client.DataEntities.NavigationFeedback;

// Register navigation feedback callback
slamNaviClient.RegisterNavigationFeedbackCallback(feedback -> {
    System.out.println("Navigation status: " + feedback.status);
    System.out.println("Navigation progress: " + (feedback.progress * 100) + "%");
});

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

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

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");
}

ROS2 Interface

Navigation Process Feedback

This interface is used to subscribe to real-time progress information during navigation.

Topic Name	Topic Type	Role
/sdk/nav/feedback	api_msgs::msg::NavigationFeedback	Publisher

Message Structure

Field Name	Type	Description
task_id	string	Current navigation task ID.
target_location	string	Target point name.
current_pose	geometry_msgs/Pose	Current position of the robot.
distance_remaining	float32	Remaining distance (meters).
navigation_time	int32	Elapsed navigation time (seconds).
time_remaining	int32	Estimated remaining time (seconds).
timestamp	string	Timestamp.
current_state	uint8	Current navigation status code.

current_state

Value	Description
0	UNKNOWN
1	STRAIGHT_LINE_NAV
2	WAITING
3	AUTO_PLANNING_NAV

Call Example

ros2 topic echo /sdk/nav/feedback

Navigation Completion Event

When navigation is successfully completed, the SDK service node will invoke this service to notify the upper-layer application. The upper-layer application shall implement the server of this service to receive the navigation completion event.

Service Name	Service Type	Role
/sdk/nav/nav_complete_event	api_msgs::srv::NavCompleteEvent	Client (invoked by the SDK)

Request Structure

Field Name	Type	Description
task_id	string	Navigation task ID.
target_location	string	Target point name.
current_pose	geometry_msgs/Pose	Robot position upon completion.
navigation_time	int8	Time elapsed for navigation (seconds).
timestamp	string	Completion timestamp.

Response Structure

Field Name	Type	Description
success	bool	Whether received and processed.
message	string	Processing result information.

Navigation Failure Event

When navigation fails, the SDK service node will invoke this service to notify the upper-layer application. The upper-layer application shall implement the server of this service to receive the navigation failure event.

Service Name	Service Type	Role
/sdk/nav/nav_failed_event	api_msgs::srv::NavFailedEvent	Client (invoked by the SDK)

Request Structure

Field Name	Type	Description
task_id	string	Navigation task ID.
error_type	int8	Error type code.
error_msg	string	Error description.
current_pose	geometry_msgs/Pose	Robot position on failure.
timestamp	string	Failure timestamp.
target_location	string	Target point name.

Response Structure

Field Name	Type	Description
success	bool	Whether received and processed.
message	string	Processing result information.