Package com.viam.service.navigation.v1

Interface NavigationServiceGrpc.AsyncService

All Known Implementing Classes:

NavigationServiceGrpc.NavigationServiceImplBase

Enclosing class:

NavigationServiceGrpc

public static interface NavigationServiceGrpc.AsyncService

 A NavigationService declares the gRPC contract for a Navigation service.
 Each service instance is bound to exactly one controllable base and one map
 type (local SLAM or GPS). Apps save named locations, routes, and zones, then
 navigate with plan-then-drive or direct go-to motion.
 

Method Summary

Modifier and Type	Method	Description
default void	addLocation(Navigation.AddLocationRequest request, io.grpc.stub.StreamObserver<Navigation.AddLocationResponse> responseObserver)	AddLocation saves a named position on the active map.
default void	addRoute(Navigation.AddRouteRequest request, io.grpc.stub.StreamObserver<Navigation.AddRouteResponse> responseObserver)	AddRoute creates a named route from an ordered list of waypoints.
default void	addZone(Navigation.AddZoneRequest request, io.grpc.stub.StreamObserver<Navigation.AddZoneResponse> responseObserver)	AddZone creates a keep-out or speed-limit zone on the active map.
default void	cancel(Navigation.CancelRequest request, io.grpc.stub.StreamObserver<Navigation.CancelResponse> responseObserver)	Cancel stops all motion and discards both the active goal and any suspended goal.
default void	deleteLocation(Navigation.DeleteLocationRequest request, io.grpc.stub.StreamObserver<Navigation.DeleteLocationResponse> responseObserver)	DeleteLocation deletes a saved location.
default void	deleteRoute(Navigation.DeleteRouteRequest request, io.grpc.stub.StreamObserver<Navigation.DeleteRouteResponse> responseObserver)	DeleteRoute deletes a route.
default void	deleteZone(Navigation.DeleteZoneRequest request, io.grpc.stub.StreamObserver<Navigation.DeleteZoneResponse> responseObserver)	DeleteZone deletes a zone.
default void	doCommand(Common.DoCommandRequest request, io.grpc.stub.StreamObserver<Common.DoCommandResponse> responseObserver)	DoCommand sends/receives arbitrary commands
default void	executePlan(Navigation.ExecutePlanRequest request, io.grpc.stub.StreamObserver<Navigation.ExecutePlanResponse> responseObserver)	ExecutePlan drives a Plan (typically from PlanToPoint or PlanToLocation).
default void	getCostmap(Navigation.GetCostmapRequest request, io.grpc.stub.StreamObserver<Navigation.GetCostmapResponse> responseObserver)	GetCostmap returns the local or global costmap as a downsampled grid, for display in UIs.
default void	getLocation(Navigation.GetLocationRequest request, io.grpc.stub.StreamObserver<Navigation.GetLocationResponse> responseObserver)	GetLocation returns a saved location by name.
default void	getNavigationStatus(Navigation.GetNavigationStatusRequest request, io.grpc.stub.StreamObserver<Navigation.GetNavigationStatusResponse> responseObserver)	GetNavigationStatus returns the full navigation state, including the robot's current position and the latest goal.
default void	getPosition(Navigation.GetPositionRequest request, io.grpc.stub.StreamObserver<Navigation.GetPositionResponse> responseObserver)	GetPosition returns the robot's current position on the active map.
default void	getProperties(Navigation.GetPropertiesRequest request, io.grpc.stub.StreamObserver<Navigation.GetPropertiesResponse> responseObserver)	GetProperties returns the map type the service operates on and robot properties.
default void	getRoute(Navigation.GetRouteRequest request, io.grpc.stub.StreamObserver<Navigation.GetRouteResponse> responseObserver)	GetRoute returns a route by name.
default void	getStatus(Common.GetStatusRequest request, io.grpc.stub.StreamObserver<Common.GetStatusResponse> responseObserver)	GetStatus returns the status of the resource
default void	getZone(Navigation.GetZoneRequest request, io.grpc.stub.StreamObserver<Navigation.GetZoneResponse> responseObserver)	GetZone returns a zone by name.
default void	goToLocation(Navigation.GoToLocationRequest request, io.grpc.stub.StreamObserver<Navigation.GoToLocationResponse> responseObserver)	GoToLocation drives directly to a saved location with a closed-loop controller, without full path planning.
default void	goToPoint(Navigation.GoToPointRequest request, io.grpc.stub.StreamObserver<Navigation.GoToPointResponse> responseObserver)	GoToPoint drives directly to a Position with a closed-loop controller, without full path planning.
default void	listLocations(Navigation.ListLocationsRequest request, io.grpc.stub.StreamObserver<Navigation.ListLocationsResponse> responseObserver)	ListLocations lists all saved locations on the active map.
default void	listRoutes(Navigation.ListRoutesRequest request, io.grpc.stub.StreamObserver<Navigation.ListRoutesResponse> responseObserver)	ListRoutes lists all routes on the active map.
default void	listZones(Navigation.ListZonesRequest request, io.grpc.stub.StreamObserver<Navigation.ListZonesResponse> responseObserver)	ListZones lists zones on the active map, optionally filtered by type.
default void	navigateRoute(Navigation.NavigateRouteRequest request, io.grpc.stub.StreamObserver<Navigation.NavigateRouteResponse> responseObserver)	NavigateRoute drives a route one waypoint at a time using the obstacle-aware planner.
default void	navigateToLocation(Navigation.NavigateToLocationRequest request, io.grpc.stub.StreamObserver<Navigation.NavigateToLocationResponse> responseObserver)	NavigateToLocation plans an obstacle-aware path to a saved location and starts driving it.
default void	navigateToPoint(Navigation.NavigateToPointRequest request, io.grpc.stub.StreamObserver<Navigation.NavigateToPointResponse> responseObserver)	NavigateToPoint plans an obstacle-aware path to a Position and starts driving it.
default void	planToLocation(Navigation.PlanToLocationRequest request, io.grpc.stub.StreamObserver<Navigation.PlanToLocationResponse> responseObserver)	PlanToLocation computes a path to a saved location without moving.
default void	planToPoint(Navigation.PlanToPointRequest request, io.grpc.stub.StreamObserver<Navigation.PlanToPointResponse> responseObserver)	PlanToPoint computes a path from the robot (or a given start) to a Position without moving.
default void	resume(Navigation.ResumeRequest request, io.grpc.stub.StreamObserver<Navigation.ResumeResponse> responseObserver)	Resume resumes the suspended goal the same way it was started: planned navigation, simple go-to, or a route from its current waypoint.
default void	suspend(Navigation.SuspendRequest request, io.grpc.stub.StreamObserver<Navigation.SuspendResponse> responseObserver)	Suspend stops motion but remembers the current goal, including the current waypoint and loop setting for routes.
default void	updateLocation(Navigation.UpdateLocationRequest request, io.grpc.stub.StreamObserver<Navigation.UpdateLocationResponse> responseObserver)	UpdateLocation changes a saved location's position or name.
default void	updateRoute(Navigation.UpdateRouteRequest request, io.grpc.stub.StreamObserver<Navigation.UpdateRouteResponse> responseObserver)	UpdateRoute renames a route and/or replaces its waypoints.
default void	updateZone(Navigation.UpdateZoneRequest request, io.grpc.stub.StreamObserver<Navigation.UpdateZoneResponse> responseObserver)	UpdateZone changes a zone's type, geometry, speed limit, or name.

Method Details

addLocation

default void addLocation(Navigation.AddLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.AddLocationResponse> responseObserver)

 AddLocation saves a named position on the active map. If position is
 omitted, the robot's current position from GetPosition is saved.
 

getLocation

default void getLocation(Navigation.GetLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetLocationResponse> responseObserver)

 GetLocation returns a saved location by name. This does not return the
 robot's current position; use GetPosition for that.
 

listLocations

default void listLocations(Navigation.ListLocationsRequest request,
 io.grpc.stub.StreamObserver<Navigation.ListLocationsResponse> responseObserver)

 ListLocations lists all saved locations on the active map.
 

updateLocation

default void updateLocation(Navigation.UpdateLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.UpdateLocationResponse> responseObserver)

 UpdateLocation changes a saved location's position or name. Renaming a
 location updates every route waypoint that references it.
 

deleteLocation

default void deleteLocation(Navigation.DeleteLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.DeleteLocationResponse> responseObserver)

 DeleteLocation deletes a saved location. The location is also removed from
 every route that references it.
 

addRoute

default void addRoute(Navigation.AddRouteRequest request,
 io.grpc.stub.StreamObserver<Navigation.AddRouteResponse> responseObserver)

 AddRoute creates a named route from an ordered list of waypoints. Every
 referenced location must already exist.
 

getRoute

default void getRoute(Navigation.GetRouteRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetRouteResponse> responseObserver)

 GetRoute returns a route by name.
 

listRoutes

default void listRoutes(Navigation.ListRoutesRequest request,
 io.grpc.stub.StreamObserver<Navigation.ListRoutesResponse> responseObserver)

 ListRoutes lists all routes on the active map.
 

updateRoute

default void updateRoute(Navigation.UpdateRouteRequest request,
 io.grpc.stub.StreamObserver<Navigation.UpdateRouteResponse> responseObserver)

 UpdateRoute renames a route and/or replaces its waypoints. An unset
 waypoints list leaves the waypoints unchanged. A set list, including an
 empty one, replaces them.
 

deleteRoute

default void deleteRoute(Navigation.DeleteRouteRequest request,
 io.grpc.stub.StreamObserver<Navigation.DeleteRouteResponse> responseObserver)

 DeleteRoute deletes a route. The locations it references are not affected.
 

addZone

default void addZone(Navigation.AddZoneRequest request,
 io.grpc.stub.StreamObserver<Navigation.AddZoneResponse> responseObserver)

 AddZone creates a keep-out or speed-limit zone on the active map. The
 planner avoids keep-out zones and caps speed inside speed-limit zones.
 

getZone

default void getZone(Navigation.GetZoneRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetZoneResponse> responseObserver)

 GetZone returns a zone by name.
 

listZones

default void listZones(Navigation.ListZonesRequest request,
 io.grpc.stub.StreamObserver<Navigation.ListZonesResponse> responseObserver)

 ListZones lists zones on the active map, optionally filtered by type.
 

updateZone

default void updateZone(Navigation.UpdateZoneRequest request,
 io.grpc.stub.StreamObserver<Navigation.UpdateZoneResponse> responseObserver)

 UpdateZone changes a zone's type, geometry, speed limit, or name.
 

deleteZone

default void deleteZone(Navigation.DeleteZoneRequest request,
 io.grpc.stub.StreamObserver<Navigation.DeleteZoneResponse> responseObserver)

 DeleteZone deletes a zone.
 

navigateToLocation

default void navigateToLocation(Navigation.NavigateToLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.NavigateToLocationResponse> responseObserver)

 NavigateToLocation plans an obstacle-aware path to a saved location and
 starts driving it. Returns once the goal is accepted; track progress with
 GetNavigationStatus.
 

navigateToPoint

default void navigateToPoint(Navigation.NavigateToPointRequest request,
 io.grpc.stub.StreamObserver<Navigation.NavigateToPointResponse> responseObserver)

 NavigateToPoint plans an obstacle-aware path to a Position and starts
 driving it. Returns once the goal is accepted; track progress with
 GetNavigationStatus. On a Pose, theta defaults to 0 if omitted.
 

navigateRoute

default void navigateRoute(Navigation.NavigateRouteRequest request,
 io.grpc.stub.StreamObserver<Navigation.NavigateRouteResponse> responseObserver)

 NavigateRoute drives a route one waypoint at a time using the
 obstacle-aware planner. Provide either route_name (a saved route) or
 waypoints (an inline list).
 

planToPoint

default void planToPoint(Navigation.PlanToPointRequest request,
 io.grpc.stub.StreamObserver<Navigation.PlanToPointResponse> responseObserver)

 PlanToPoint computes a path from the robot (or a given start) to a
 Position without moving. Pass a feasible result to ExecutePlan to drive it.
 Raises an error if no path exists.
 

planToLocation

default void planToLocation(Navigation.PlanToLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.PlanToLocationResponse> responseObserver)

 PlanToLocation computes a path to a saved location without moving. Accepts
 the same optional start as PlanToPoint. Raises an error if no path exists.
 

executePlan

default void executePlan(Navigation.ExecutePlanRequest request,
 io.grpc.stub.StreamObserver<Navigation.ExecutePlanResponse> responseObserver)

 ExecutePlan drives a Plan (typically from PlanToPoint or PlanToLocation).
 While navigating, the active path is available on GetNavigationStatus. Rejected if
 the path is empty.
 

goToLocation

default void goToLocation(Navigation.GoToLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.GoToLocationResponse> responseObserver)

 GoToLocation drives directly to a saved location with a closed-loop
 controller, without full path planning. Intended for short hops and
 docking. With wait false, returns immediately while navigating.
 

goToPoint

default void goToPoint(Navigation.GoToPointRequest request,
 io.grpc.stub.StreamObserver<Navigation.GoToPointResponse> responseObserver)

 GoToPoint drives directly to a Position with a closed-loop controller,
 without full path planning. Intended for short hops and docking. With wait
 false, returns immediately while navigating.
 

suspend

default void suspend(Navigation.SuspendRequest request,
 io.grpc.stub.StreamObserver<Navigation.SuspendResponse> responseObserver)

 Suspend stops motion but remembers the current goal, including the current
 waypoint and loop setting for routes. A suspended goal must be canceled
 before a new one starts.
 

resume

default void resume(Navigation.ResumeRequest request,
 io.grpc.stub.StreamObserver<Navigation.ResumeResponse> responseObserver)

 Resume resumes the suspended goal the same way it was started: planned
 navigation, simple go-to, or a route from its current waypoint.
 

cancel

default void cancel(Navigation.CancelRequest request,
 io.grpc.stub.StreamObserver<Navigation.CancelResponse> responseObserver)

 Cancel stops all motion and discards both the active goal and any
 suspended goal.
 

getPosition

default void getPosition(Navigation.GetPositionRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetPositionResponse> responseObserver)

 GetPosition returns the robot's current position on the active map. Use
 this for frequent position polling; GetNavigationStatus reports the same position
 alongside the rest of the navigation state.
 

getNavigationStatus

default void getNavigationStatus(Navigation.GetNavigationStatusRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetNavigationStatusResponse> responseObserver)

 GetNavigationStatus returns the full navigation state, including the robot's
 current position and the latest goal.
 

getProperties

default void getProperties(Navigation.GetPropertiesRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetPropertiesResponse> responseObserver)

 GetProperties returns the map type the service operates on and robot
 properties. These values do not change while the service is running.
 

getCostmap

default void getCostmap(Navigation.GetCostmapRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetCostmapResponse> responseObserver)

 GetCostmap returns the local or global costmap as a downsampled grid, for
 display in UIs.
 

doCommand

default void doCommand(Common.DoCommandRequest request,
 io.grpc.stub.StreamObserver<Common.DoCommandResponse> responseObserver)

 DoCommand sends/receives arbitrary commands
 

getStatus

default void getStatus(Common.GetStatusRequest request,
 io.grpc.stub.StreamObserver<Common.GetStatusResponse> responseObserver)

 GetStatus returns the status of the resource