viam.services.slam

Submodules

Classes

`Pose`	Pose is a combination of location and orientation.
`MappingMode`	MappingMode represnts the various form of mapping and localizing SLAM can perform.
`SensorInfo`	Abstract base class for protocol messages.
`SLAMClient`	Connect to the SLAMService, which allows the robot to create a map of its surroundings and find its location in that map.

Package Contents

class viam.services.slam.Pose(*, x: float = ..., y: float = ..., z: float = ..., o_x: float = ..., o_y: float = ..., o_z: float = ..., theta: float = ...)

Bases: google.protobuf.message.Message

Pose is a combination of location and orientation. Location is expressed as distance which is represented by x , y, z coordinates. Orientation is expressed as an orientation vector which is represented by o_x, o_y, o_z and theta. The o_x, o_y, o_z coordinates represent the point on the cartesian unit sphere that the end of the arm is pointing to (with the origin as reference). That unit vector forms an axis around which theta rotates. This means that incrementing / decrementing theta will perform an inline rotation of the end effector. Theta is defined as rotation between two planes: the first being defined by the origin, the point (0,0,1), and the rx, ry, rz point, and the second being defined by the origin, the rx, ry, rz point and the local Z axis. Therefore, if theta is kept at zero as the north/south pole is circled, the Roll will correct itself to remain in-line.

x: float: millimeters from the origin

y: float: millimeters from the origin

z: float: millimeters from the origin

o_x: float: z component of a vector defining axis of rotation

o_y: float: x component of a vector defining axis of rotation

o_z: float: y component of a vector defining axis of rotation

theta: float: degrees

class viam.services.slam.MappingMode

Bases: _MappingMode

MappingMode represnts the various form of mapping and localizing SLAM can perform. These include, creating a new map, localizing on an existiing map and updating an exisiting map.

class viam.services.slam.SensorInfo(*, name: str = ..., type: global___SensorType = ...)

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.

name: str

type: global___SensorType

class viam.services.slam.SLAMClient(name: str, channel: grpclib.client.Channel)[source]

Bases: viam.services.slam.slam.SLAM, viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase

Connect to the SLAMService, which allows the robot to create a map of its surroundings and find its location in that map.

client: viam.proto.service.slam.SLAMServiceStub

channel

async get_position(*, timeout: float | None = None, **kwargs) → viam.services.slam.Pose[source]

Get current position of the specified component in the SLAM Map.

slam_svc = SLAMClient.from_robot(robot=machine, name="my_slam_service")

# Get the current position of the specified source component in the SLAM map as a Pose.
pose = await slam.get_position()

Returns:: The current position of the specified component
Return type:: Pose

For more information, see SLAM service.

async get_point_cloud_map(return_edited_map: bool = False, *, timeout: float | None = None, **kwargs) → List[bytes][source]

Get the point cloud map.

slam_svc = SLAMClient.from_robot(robot=machine, name="my_slam_service")

# Get the point cloud map in standard PCD format.
pcd_map = await slam_svc.get_point_cloud_map()

Parameters:: return_edited_map (bool) – signal to the SLAM service to return an edited map, if the map package contains one and if the SLAM service supports the feature
Returns:: Complete pointcloud in standard PCD format. Chunks of the PointCloud, concatenating all GetPointCloudMapResponse.point_cloud_pcd_chunk values.
Return type:: List[GetPointCloudMapResponse]

For more information, see SLAM service.

async get_internal_state(*, timeout: float | None = None, **kwargs) → List[bytes][source]

Get the internal state of the SLAM algorithm required to continue mapping/localization.

slam = SLAMClient.from_robot(robot=machine, name="my_slam_service")

# Get the internal state of the SLAM algorithm required to continue mapping/localization.
internal_state = await slam.get_internal_state()

Returns:: Chunks of the internal state of the SLAM algorithm
Return type:: List[GetInternalStateResponse]

For more information, see SLAM service.

async get_properties(*, timeout: float | None = None, **kwargs) → viam.services.slam.slam.SLAM.Properties[source]

Get information regarding the current SLAM session.

slam_svc = SLAMClient.from_robot(robot=machine, name="my_slam_service")

# Get the properties of your current SLAM session.
slam_properties = await slam_svc.get_properties()

Returns:: The properties of SLAM
Return type:: Properties

For more information, see SLAM service.

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

Send/receive arbitrary commands.

service = SERVICE.from_robot(robot=machine, "builtin")  # replace SERVICE with the appropriate class

my_command = {
  "cmnd": "dosomething",
  "someparameter": 52
}

# Can be used with any resource, using the motion service as an example
await service.do_command(command=my_command)

Parameters:: command (Dict[str, ValueTypes]) – The command to execute
Returns:: Result of the executed command
Return type:: Dict[str, ValueTypes]

classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) → typing_extensions.Self

Get the service named name from the provided robot.

async def connect() -> RobotClient:
    # Replace "<API-KEY>" (including brackets) with your API key and "<API-KEY-ID>" with your API key ID
    options = RobotClient.Options.with_api_key("<API-KEY>", "<API-KEY-ID>")
    # Replace "<MACHINE-URL>" (included brackets) with your machine's connection URL or FQDN
    return await RobotClient.at_address("<MACHINE-URL>", options)

async def main():
    robot = await connect()

    # Can be used with any resource, using the motion service as an example
    motion = MotionClient.from_robot(robot=machine, name="builtin")

    robot.close()

Parameters:

robot (RobotClient) – The robot
name (str) – The name of the service

Returns:

The service, if it exists on the robot

Return type:

Self

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

Get the ResourceName for this Resource with the given name

# Can be used with any resource, using an arm as an example
my_arm_name = Arm.get_resource_name("my_arm")

Parameters:: name (str) – The name of the Resource
Returns:: The ResourceName of this Resource
Return type:: ResourceName

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 return errors when future non-Close methods are called.

await component.close()