Documentation
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Overview ¶
Package builtin implements a navigation service.
Index ¶
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
func NewBuiltIn ¶
func NewBuiltIn( ctx context.Context, deps resource.Dependencies, conf resource.Config, logger logging.Logger, ) (navigation.Service, error)
NewBuiltIn returns a new navigation service for the given robot.
Types ¶
type Config ¶
type Config struct {
Store navigation.StoreConfig `json:"store"`
BaseName string `json:"base"`
MapType string `json:"map_type"`
MovementSensorName string `json:"movement_sensor"`
MotionServiceName string `json:"motion_service"`
ObstacleDetectors []*ObstacleDetectorNameConfig `json:"obstacle_detectors"`
// DegPerSec and MetersPerSec are targets and not hard limits on speed
DegPerSec float64 `json:"degs_per_sec,omitempty"`
MetersPerSec float64 `json:"meters_per_sec,omitempty"`
Obstacles []*spatialmath.GeoObstacleConfig `json:"obstacles,omitempty"`
PositionPollingFrequencyHz float64 `json:"position_polling_frequency_hz,omitempty"`
ObstaclePollingFrequencyHz float64 `json:"obstacle_polling_frequency_hz,omitempty"`
PlanDeviationM float64 `json:"plan_deviation_m,omitempty"`
ReplanCostFactor float64 `json:"replan_cost_factor,omitempty"`
LogFilePath string `json:"log_file_path"`
}
Config describes how to configure the service.
type ObstacleDetectorNameConfig ¶ added in v0.11.0
type ObstacleDetectorNameConfig struct {
VisionServiceName string `json:"vision_service"`
CameraName string `json:"camera"`
}
ObstacleDetectorNameConfig is the protobuf version of ObstacleDetectorName.
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