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Localization

Localization allows the robot to determine its position and orientation on the map.

Message Types

LocalizationGoal

The robot must be placed within a 5x5 meter window from the localization goal.

Field (oneof) Message Type Description
pose Pose The target pose for localization.
JSON Example
  {
    "pose": {
      "xMeters": 2.5,
      "yMeters": 3.0,
      "headingRadians": 1.57
    }
  }

LocalizationState

Represents the current localization state.

Field Message Type Description
state State enum The current localization state.

LocalizationState.State enum

Name Number Description
STATE_UNKNOWN 0 Default value. It means the state field is not returned.
STATE_PREEMPTED 1 Happens when the localization process is preempted before completion.
STATE_FAILED 2 The localization process failed.
STATE_SUCCEEDED 3 The localization process completed successfully.
STATE_LOCALIZING 4 The robot is actively performing localization.
JSON Example
  {
    "state": "STATE_LOCALIZING"
  }