{"id":547,"date":"2023-03-30T17:44:33","date_gmt":"2023-03-30T09:44:33","guid":{"rendered":"https:\/\/doc.orionstar.com\/en\/?post_type=lsvr_kba&p=547"},"modified":"2024-08-19T18:01:40","modified_gmt":"2024-08-19T10:01:40","slug":"navigation","status":"publish","type":"lsvr_kba","link":"https:\/\/doc.orionstar.com\/en\/knowledge-base\/navigation\/","title":{"rendered":"Navigation"},"content":{"rendered":"\n

Introduction<\/strong><\/a><\/h3>\n\n\n\n

Navigation refers to the walking ability of the robot. The robot can move from point A to point B. It can automatically plan a route during the walking process, which can effectively avoid obstacles.<\/p>\n\n\n\n

There are many sensors used in robot navigation, including bottom lidar, RGBD, head IR sensor (some models), etc., so please do not block these sensors during navigation to avoid problems such as robot not walking, path planning failure, etc.<\/p>\n\n\n\n

The premise that the robot can perform navigation actions is that the robot has created a map, and has successfully positioned on the map, and the radar is turned on. Please pay attention to this.<\/p>\n\n\n\n

Navigate to the specified location<\/strong><\/a><\/h3>\n\n\n\n

Method name: startNavigation<\/p>\n\n\n\n

Result callback:<\/p>\n\n\n\n

ActionListener navigationListener = new ActionListener() {    \n    @Override \n    public void onResult(int status, String response) throws RemoteException {        \n        switch (status) {            \n            case Definition.RESULT_OK:                \n                if (\"true\".equals(response)) {                    \n                    \/\/navigation is successful                \n                } else {                    \n                    \/\/navigation is failed                \n                }                \n                break;        \n        }    \n    }    \n    @Override \n    public void onError(int errorCode, String errorString) throws RemoteException {\n        switch (errorCode) {            \n            case Definition.ERROR_NOT_ESTIMATE:                \n                \/\/ not currently located                \n                break;            \n            case Definition.ERROR_IN_DESTINATION:                \n                \/\/ robot is already within the destination range                \n                break;            \n            case Definition.ERROR_DESTINATION_NOT_EXIST:                \n                \/\/ navigation destination not exist                \n                break;            \n            case Definition.ERROR_DESTINATION_CAN_NOT_ARRAIVE:                \n                \/\/ obstacle avoidance timeout, so the destination cannot be reached. timeout period can be set through parameter                \n                break;            \n            case Definition.ACTION_RESPONSE_ALREADY_RUN:                \n                \/\/  current api has been called, please stop before calling again                \n                break;            \n            case Definition.ACTION_RESPONSE_REQUEST_RES_ERROR:                \n                \/\/ API that needs to control the chassis has already been called .Please stop first, then continue to call                \n                break;            \n            case Definition.ERROR_MULTI_ROBOT_WAITING_TIMEOUT:                \n                \/\/ one robot waiting for other waiting time out.                \n                break;            \n            case Definition.ERROR_NAVIGATION_FAILED:                \n                \/\/ the other problem caused failed.                \n                break;        \n        }    \n    }    \n    @Override \n    public void onStatusUpdate(int status, String data, String extraData) {\n        switch (status) {            \n            case Definition.STATUS_NAVI_AVOID:                \n                \/\/ the current route has been blocked by obstacles                \n                break;            \n            case Definition.STATUS_NAVI_AVOID_END:                \n                \/\/ obstacle disappeared                \n                break;            \n            case Definition.STATUS_START_NAVIGATION:                \n                \/\/ start navigation                \n                break;            \n            case Definition.STATUS_START_CRUISE:                \n                \/\/ start cruise                \n                break;            \n            case Definition.STATUS_NAVI_OUT_MAP:                \n                \/\/ run out of map                \n                break;            \n            case Definition.STATUS_NAVI_MULTI_ROBOT_WAITING:                \n                \/\/ start waiting for other robots                \n                break;            \n            case Definition.STATUS_NAVI_MULTI_ROBOT_WAITING_END:                \n                \/\/ waiting end                \n                break;            \n            case Definition.STATUS_NAVI_GO_STRAIGHT:                \n                \/\/ start go straight                \n                break;            \n            case Definition.STATUS_NAVI_TURN_LEFT:                \n                \/\/ start turn left                \n                break;            \n            case Definition.STATUS_NAVI_TURN_RIGHT:                \n                \/\/ start turn right                \n                break;        \n        }    \n    }\n};<\/pre>\n\n\n\n
How to use the methods:<\/strong><\/p>\n\n\n\n
    \n
  1. Default navigation speed<\/li>\n<\/ol>\n\n\n\n
    RobotApi.getInstance().startNavigation(reqId, destName, coordinateDeviation, time, navigationListener);<\/pre>\n\n\n\n
      \n
    1. Default navigation speed, specify obstacle avoidance distance (if this value is set to 0, the robot will default to using a value of 0.75). (This calling method is supported in<\/strong> V10<\/em><\/strong>)<\/li>\n<\/ol>\n\n\n\n
      RobotApi.getInstance().startNavigation(reqId, destName, coordinateDeviation, obsDistance, time, navigationListener);<\/pre>\n\n\n\n
        \n
      1. Specify navigation speed (This calling method is supported in V4.12<\/strong><\/em><\/strong>)<\/li>\n<\/ol>\n\n\n\n
        RobotApi.getInstance().startNavigation(reqId, destName, coordinateDeviation, time, linearSpeed, angularSpeed, navigationListener);<\/pre>\n\n\n\n
        4. Specify navigation speed , specify obstacle avoidance distance (if this value is set to 0, the robot will default to using a value of 0.75). (This calling method is supported in<\/strong> V10<\/em><\/strong>)<\/p>\n\n\n\n
        RobotApi.getInstance().startNavigation(reqId, destName, coordinateDeviation, obsDistance, time, linearSpeed, angularSpeed, navigationListener);<\/pre>\n\n\n\n
        5. Specify the coordinate point (This calling method is supported in V4.12<\/strong><\/em><\/strong>)<\/p>\n\n\n\n
        RobotApi.getInstance().startNavigation(reqId, pose, coordinateDeviation, time, navigationListener);<\/pre>\n\n\n\n
        6. Specify the coordinate point , specify obstacle avoidance distance (if this value is set to 0, the robot will default to using a value of 0.75). (This calling method is supported in<\/strong> V10<\/em><\/strong>)<\/p>\n\n\n\n
        RobotApi.getInstance().startNavigation(reqId, pose, coordinateDeviation, obsDistance, time, navigationListener);<\/pre>\n\n\n\n
        7. Specify navigation acceleration (This calling method is supported in V4.12<\/strong><\/em><\/strong>)(This interface only supports Lucki for the time being)<\/p>\n\n\n\n
        RobotApi.getInstance().startNavigation(reqId, destName, coordinateDeviation, time, linearSpeed, angularSpeed, isAdjustAngle, destinationRange, wheelOverCurrentRetryCount, multipleWaitTime, priority, linearAcceleration, angularAcceleration, navigationListener);<\/pre>\n\n\n\n
        Parameter Description:<\/p>\n\n\n\n