viam.services.navigation

Submodules

Package Contents

Classes

GeoObstacle

GeoObstacle contains information about the geometric structure of an obstacle and the location of the obstacle,

GeoPoint

Abstract base class for protocol messages.

Mode

Path

A user provided destination and the set of geopoints that

Waypoint

Abstract base class for protocol messages.

Navigation

Navigation represents a Navigation service.
class viam.services.navigation.GeoObstacle(*, location: global___GeoPoint | None = ..., geometries: collections.abc.Iterable[global___Geometry] | None = ...)

Bases: google.protobuf.message.Message

GeoObstacle contains information about the geometric structure of an obstacle and the location of the obstacle, captured in latitude and longitude.

property location: global___GeoPoint

Location of the obstacle

property geometries: google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___Geometry]

Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location

HasField(field_name: Literal[location, b'location']) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.services.navigation.GeoPoint(*, latitude: float = ..., longitude: float = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

latitude: float
longitude: float
class viam.services.navigation.Mode

Bases: _Mode

class viam.services.navigation.Path(*, destination_waypoint_id: str = ..., geopoints: collections.abc.Iterable[viam.gen.common.v1.common_pb2.GeoPoint] | None = ...)

Bases: google.protobuf.message.Message

A user provided destination and the set of geopoints that the robot is expected to take to get there

property geopoints: google.protobuf.internal.containers.RepeatedCompositeFieldContainer[viam.gen.common.v1.common_pb2.GeoPoint]

List of geopoints that the motion planner output to reach the destination The first geopoint is the starting position of the robot for that path

destination_waypoint_id: str

The id of the user specified waypoint

class viam.services.navigation.Waypoint(*, id: str = ..., location: viam.gen.common.v1.common_pb2.GeoPoint | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

property location: viam.gen.common.v1.common_pb2.GeoPoint
id: str
HasField(field_name: Literal[location, b'location']) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.services.navigation.Navigation(name: str)[source]

Bases: viam.services.service_base.ServiceBase

Navigation represents a Navigation service.

This acts as an abstract base class for any drivers representing specific navigation service implementations. This cannot be used on its own. If the __init__() function is overridden, it must call the super().__init__() function.

SUBTYPE: Final
abstract async get_paths(*, timeout: Optional[float]) → List[viam.services.navigation.Path][source]
abstract async get_location(*, timeout: Optional[float]) → viam.services.navigation.GeoPoint[source]
abstract async get_obstacles(*, timeout: Optional[float]) → List[viam.services.navigation.GeoObstacle][source]
abstract async get_waypoints(*, timeout: Optional[float]) → List[viam.services.navigation.Waypoint][source]
abstract async add_waypoint(point: viam.services.navigation.GeoPoint, *, timeout: Optional[float])[source]
abstract async remove_waypoint(id: str, *, timeout: Optional[float])[source]
abstract async get_mode(*, timeout: Optional[float]) → viam.services.navigation.Mode.ValueType[source]
abstract async set_mode(mode: viam.services.navigation.Mode.ValueType, *, timeout: Optional[float])[source]
classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) → typing_extensions.Self

Get the service named name from the provided robot.

Parameters:

  • robot (RobotClient) – The robot

  • name (str) – The name of the service

Returns:

The service, if it exists on the robot

Return type:

Self

abstract async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: Optional[float] = None, **kwargs) → Mapping[str, viam.utils.ValueTypes]

Send/Receive arbitrary commands to the Resource

Parameters:

command (Mapping[str, ValueTypes]) – The command to execute

Raises:

NotImplementedError – Raised if the Resource does not support arbitrary commands

Returns:

Result of the executed command

Return type:

Mapping[str, ValueTypes]

classmethod get_resource_name(name: str) → viam.proto.common.ResourceName

Get the ResourceName for this Resource with the given name

Parameters:

name (str) – The name of the Resource

get_operation(kwargs: Mapping[str, Any]) → viam.operations.Operation

Get the Operation associated with the currently running function.

When writing custom resources, you should get the Operation by calling this function and check to see if it’s cancelled. If the Operation is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ).

Parameters:

kwargs (Mapping[str, Any]) – The kwargs object containing the operation

Returns:

The operation associated with this function

Return type:

viam.operations.Operation

async close()

Safely shut down the resource and prevent further use.

Close must be idempotent. Later configuration may allow a resource to be “open” again. If a resource does not want or need a close function, it is assumed that the resource does not need to retun errors when future non-Close methods are called.