viam.services.slam.slam

Module Contents

Classes

SLAM	SLAM represents a SLAM service.

class viam.services.slam.slam.SLAM(name: str)

Bases: viam.services.service_base.ServiceBase

SLAM represents a SLAM service.

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

SUBTYPE: Final

Properties: TypeAlias

abstract async get_internal_state(*, timeout: float | None) → List[bytes]

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

slam = SLAMClient.from_robot(robot=robot, 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]

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

Get the point cloud map.

slam_svc = SLAMClient.from_robot(robot=robot, 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]

abstract async get_position(*, timeout: float | None) → viam.services.slam.Pose

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

slam_svc = SLAMClient.from_robot(robot=robot, 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

abstract async get_properties(*, timeout: float | None) → Properties

Get information regarding the current SLAM session.

slam_svc = SLAMClient.from_robot(robot=robot, 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

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() -> ViamClient:
    # Replace "<API-KEY>" (including brackets) with your API key and "<API-KEY-ID>" with your API key ID
    dial_options = DialOptions.with_api_key("<API-KEY>", "<API-KEY-ID>")
    return await ViamClient.create_from_dial_options(dial_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=robot, 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

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

Send/receive arbitrary commands.

motion = MotionClient.from_robot(robot, "builtin")

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

# Can be used with any resource, using the motion service as an example
await motion.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 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 = my_arm.get_resource_name("my_arm")

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 return errors when future non-Close methods are called.

await component.close()