Class NavigationClient

A gRPC-web client for a Navigation service.

Implements

Navigation

Constructors

constructor

new NavigationClient(
    client: Client,
    name: string,
    options?: Options,
): NavigationClient
Parameters
- client: Client
- name: string
- options: Options = {}
Returns NavigationClient

Properties

callOptions

callOptions: CallOptions = ...

`Readonly`name

name: string

The name of the resource.

Methods

addLocation

addLocation(
    locationName: string,
    position?: PlainMessage<navigationApi.Position>,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Location>
Save a named position on the active map. If position is omitted, the robot's current position from getPosition is saved.
Parameters
- locationName: string
  The name to save the location under.
- Optionalposition: PlainMessage<navigationApi.Position>
  The position to save. Defaults to the robot's current position.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Location>

Implementation of Navigation.addLocation

addRoute

addRoute(
    routeName: string,
    waypoints: PlainMessage<navigationApi.Waypoint>[],
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Route>
Create a named route from an ordered list of waypoints. Every referenced location must already exist.
Parameters
- routeName: string
  The name to save the route under.
- waypoints: PlainMessage<navigationApi.Waypoint>[]
  The ordered list of waypoints for the route.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Route>

Implementation of Navigation.addRoute

addZone

addZone(
    zoneName: string,
    type: string,
    geometry: Struct,
    maxSpeed?: number,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Zone>
Create a keep-out or speed-limit zone on the active map. The planner avoids keep-out zones and caps speed inside speed-limit zones.
Parameters
- zoneName: string
  The name to save the zone under.
- type: string
  Either "keepout" or "speed_limit".
- geometry: Struct
  The zone's geometry (circle, box, or polygon).
- OptionalmaxSpeed: number
  The max speed in meters/sec. Required when type is "speed_limit".
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Zone>

Implementation of Navigation.addZone

cancel

cancel(extra?: {}, callOptions?: CallOptions): Promise<navigationApi.Status>
Stop all motion and discard both the active goal and any suspended goal.
Parameters
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Status>

Implementation of Navigation.cancel

deleteLocation

deleteLocation(
    locationName: string,
    extra?: {},
    callOptions?: CallOptions,
): Promise<void>
Delete a saved location. The location is also removed from every route that references it.
Parameters
- locationName: string
  The name of the location to delete.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<void>

Implementation of Navigation.deleteLocation

deleteRoute

deleteRoute(
    routeName: string,
    extra?: {},
    callOptions?: CallOptions,
): Promise<void>
Delete a route. The locations it references are not affected.
Parameters
- routeName: string
  The name of the route to delete.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<void>

Implementation of Navigation.deleteRoute

deleteZone

deleteZone(
    zoneName: string,
    extra?: {},
    callOptions?: CallOptions,
): Promise<void>
Delete a zone.
Parameters
- zoneName: string
  The name of the zone to delete.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<void>

Implementation of Navigation.deleteZone

doCommand

doCommand(
command: Struct | Record<string, JsonValue>,
callOptions?: CallOptions,
): Promise<JsonValue>
Send/Receive arbitrary commands to the resource.
Parameters
- command: Struct | Record<string, JsonValue>
  The command to execute. Accepts either a Struct or a plain object, which will be converted automatically.
- callOptions: CallOptions = ...
Returns Promise<JsonValue>
Example
```
// Plain object (recommended)
const result = await resource.doCommand({
  myCommand: { key: 'value' },
});

// Struct (still supported)
import { Struct } from '@viamrobotics/sdk';

const result = await resource.doCommand(Struct.fromJson({ myCommand: { key: 'value' } }));
```
Implementation of Navigation.doCommand

executePlan

executePlan(
    plan: Plan,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Status>
Drive a Plan, typically from planToPoint or planToLocation. While navigating, the active path is available on getNavigationStatus. Rejected if the path is empty.
Parameters
- plan: Plan
  The plan to execute.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Status>

Implementation of Navigation.executePlan

getCostmap

getCostmap(
    layer?: string,
    stride?: number,
    extra?: {},
    callOptions?: CallOptions,
): Promise<GetCostmapResponse>
Get the local or global costmap as a downsampled grid, for display in UIs.
Parameters
- layer: string = 'auto'
  Optional; "auto", "local", or "global". Defaults to "auto".
- stride: number = 2
  Optional; the downsample factor. Defaults to 2.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<GetCostmapResponse>

Implementation of Navigation.getCostmap

getLocation

getLocation(
    locationName: string,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Location>
Get a saved location by name. This does not return the robot's current position; use getPosition for that.
Parameters
- locationName: string
  The name of the location to get.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Location>

Implementation of Navigation.getLocation

getNavigationStatus

getNavigationStatus(
extra?: {},
callOptions?: CallOptions,
): Promise<navigationApi.Status>
Get the full navigation state, including the robot's current position and the latest goal.
Parameters
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Status>

Implementation of Navigation.getNavigationStatus

getPosition

getPosition(
extra?: {},
callOptions?: CallOptions,
): Promise<navigationApi.Position>
Get 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.
Parameters
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Position>

Implementation of Navigation.getPosition

getProperties

getProperties(callOptions?: CallOptions): Promise<navigationApi.Properties>
Get the map type the service operates on and robot properties. These values do not change while the service is running.
Parameters
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Properties>

Implementation of Navigation.getProperties

getRoute

getRoute(
    routeName: string,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Route>
Get a route by name.
Parameters
- routeName: string
  The name of the route to get.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Route>

Implementation of Navigation.getRoute

getStatus

getStatus(callOptions?: CallOptions): Promise<JsonValue>
Get the status of the resource.
Parameters
- callOptions: CallOptions = ...
Returns Promise<JsonValue>

Implementation of Navigation.getStatus

getZone

getZone(
    zoneName: string,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Zone>
Get a zone by name.
Parameters
- zoneName: string
  The name of the zone to get.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Zone>

Implementation of Navigation.getZone

goToLocation

goToLocation(
    locationName: string,
    wait?: boolean,
    linearMPerSec?: number,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Status>
Drive directly to a saved location with a closed-loop controller, without full path planning. Intended for short hops and docking.
Parameters
- locationName: string
  The name of the saved location to go to.
- wait: boolean = true
  Optional; defaults to true. With false, returns immediately while navigating.
- OptionallinearMPerSec: number
  Optional; the linear speed to drive at.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Status>

Implementation of Navigation.goToLocation

goToPoint

goToPoint(
    destination: Position,
    wait?: boolean,
    linearMPerSec?: number,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Status>
Drive directly to a Position with a closed-loop controller, without full path planning. Intended for short hops and docking.
Parameters
- destination: Position
  The destination to go to.
- wait: boolean = true
  Optional; defaults to true. With false, returns immediately while navigating.
- OptionallinearMPerSec: number
  Optional; the linear speed to drive at.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Status>

Implementation of Navigation.goToPoint

listLocations

listLocations(
extra?: {},
callOptions?: CallOptions,
): Promise<navigationApi.Location[]>
List all saved locations on the active map.
Parameters
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Location[]>

Implementation of Navigation.listLocations

listRoutes

listRoutes(
extra?: {},
callOptions?: CallOptions,
): Promise<navigationApi.Route[]>
List all routes on the active map.
Parameters
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Route[]>

Implementation of Navigation.listRoutes

listZones

listZones(
    type?: string,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Zone[]>
List zones on the active map, optionally filtered by type.
Parameters
- type: string = ''
  Optional; "keepout" or "speed_limit".
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Zone[]>

Implementation of Navigation.listZones

navigateRoute

navigateRoute(
    options: NavigateRouteOptions,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Status>
Drive a route one waypoint at a time using the obstacle-aware planner. Provide either routeName (a saved route) or waypoints (an inline list).
Parameters
- options: NavigateRouteOptions
  The route, and how to drive it. See NavigateRouteOptions.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Status>
Example
```
const status = await navigation.navigateRoute({ routeName: 'patrol', loop: true });
```
Implementation of Navigation.navigateRoute

navigateToLocation

navigateToLocation(
    locationName: string,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Status>
Plan an obstacle-aware path to a saved location and start driving it. Returns once the goal is accepted; track progress with getNavigationStatus.
Parameters
- locationName: string
  The name of the saved location to navigate to.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Status>

Implementation of Navigation.navigateToLocation

navigateToPoint

navigateToPoint(
    destination: Position,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Status>
Plan an obstacle-aware path to a Position and start driving it. Returns once the goal is accepted; track progress with getNavigationStatus.
Parameters
- destination: Position
  The destination to navigate to.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Status>

Implementation of Navigation.navigateToPoint

planToLocation

planToLocation(
    locationName: string,
    start?: PlainMessage<navigationApi.Position>,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Plan>
Compute a path to a saved location without moving. Accepts the same optional start as planToPoint. Raises an error if no path exists.
Parameters
- locationName: string
  The name of the saved location to plan to.
- Optionalstart: PlainMessage<navigationApi.Position>
  Optional; the starting position. Defaults to getPosition.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Plan>

Implementation of Navigation.planToLocation

planToPoint

planToPoint(
    destination: Position,
    start?: PlainMessage<navigationApi.Position>,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Plan>
Compute 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.
Parameters
- destination: Position
  The destination to plan to.
- Optionalstart: PlainMessage<navigationApi.Position>
  Optional; the starting position. Defaults to getPosition.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Plan>

Implementation of Navigation.planToPoint

resume

resume(extra?: {}, callOptions?: CallOptions): Promise<navigationApi.Status>
Resume the suspended goal the same way it was started: planned navigation, simple go-to, or a route from its current waypoint.
Parameters
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Status>

Implementation of Navigation.resume

suspend

suspend(
    reason?: string,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Status>
Stop motion but remember the current goal, including the current waypoint and loop setting for routes. A suspended goal must be canceled before a new one starts.
Parameters
- reason: string = ''
  Optional; reported on the suspended goal.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Status>

Implementation of Navigation.suspend

updateLocation

updateLocation(
    locationName: string,
    position?: PlainMessage<navigationApi.Position>,
    newName?: string,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Location>
Change a saved location's position or name. Renaming a location updates every route waypoint that references it.
Parameters
- locationName: string
  The name of the location to update.
- Optionalposition: PlainMessage<navigationApi.Position>
  The new position. Omit to leave the position unchanged.
- OptionalnewName: string
  The new name. Omit to leave the name unchanged.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Location>

Implementation of Navigation.updateLocation

updateRoute

updateRoute(
    routeName: string,
    newName?: string,
    waypoints?: PlainMessage<navigationApi.Waypoint>[],
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Route>
Rename a route and/or replace its waypoints. An omitted waypoints list leaves the waypoints unchanged; an empty list clears them.
Parameters
- routeName: string
  The name of the route to update.
- OptionalnewName: string
  The new name. Omit to leave the name unchanged.
- Optionalwaypoints: PlainMessage<navigationApi.Waypoint>[]
  The replacement waypoints. Omit to leave them unchanged.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Route>

Implementation of Navigation.updateRoute

updateZone

updateZone(
    zoneName: string,
    type?: string,
    geometry?: Struct,
    maxSpeed?: number,
    newName?: string,
    extra?: {},
    callOptions?: CallOptions,
): Promise<navigationApi.Zone>
Change a zone's type, geometry, speed limit, or name.
Parameters
- zoneName: string
  The name of the zone to update.
- Optionaltype: string
  Optional; "keepout" or "speed_limit".
- Optionalgeometry: Struct
  Optional; the zone's new geometry.
- OptionalmaxSpeed: number
  Optional; the new max speed in meters/sec.
- OptionalnewName: string
  Optional; the new name for the zone.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<navigationApi.Zone>

Implementation of Navigation.updateZone

Class NavigationClient

Implements

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

Returns NavigationClient

Properties

callOptions

Readonlyname

Methods

addLocation

Parameters

Returns Promise<navigationApi.Location>

addRoute

Parameters

Returns Promise<navigationApi.Route>

addZone

Parameters

Returns Promise<navigationApi.Zone>

cancel

Parameters

Returns Promise<navigationApi.Status>

deleteLocation

Parameters

Returns Promise<void>

deleteRoute

Parameters

Returns Promise<void>

deleteZone

Parameters

Returns Promise<void>

doCommand

Parameters

Returns Promise<JsonValue>

Example

executePlan

Parameters

Returns Promise<navigationApi.Status>

getCostmap

Parameters

Returns Promise<GetCostmapResponse>

getLocation

Parameters

Returns Promise<navigationApi.Location>

getNavigationStatus

Parameters

Returns Promise<navigationApi.Status>

getPosition

Parameters

Returns Promise<navigationApi.Position>

getProperties

Parameters

Returns Promise<navigationApi.Properties>

getRoute

Parameters

Returns Promise<navigationApi.Route>

getStatus

Parameters

Returns Promise<JsonValue>

getZone

Parameters

Returns Promise<navigationApi.Zone>

goToLocation

Parameters

Returns Promise<navigationApi.Status>

goToPoint

Parameters

Returns Promise<navigationApi.Status>

listLocations

Parameters

Returns Promise<navigationApi.Location[]>

listRoutes

Parameters

Returns Promise<navigationApi.Route[]>

listZones

Parameters

`Readonly`name