Localization & Navigation¶

Message types for navigation goals and robot localization. A Goal specifies a mission target; Pose is reported in Robot Status.

Represents the robot's pose on the map.

Field	Type	Description
`x_meters`	`float`	X-coordinate in meters within the map.
`y_meters`	`float`	Y-coordinate in meters within the map.
`heading_radians`	`float`	The heading of the robot in radians. Ranges from -π to π, where 0.0 points along the positive x-axis.

JSON

  {
    "xMeters": 2.5,
    "yMeters": 3.0,
    "headingRadians": 1.57
  }

Represents a target destination or pose for the robot to navigate to. Exactly one of the fields below may be set.

Field (oneof)	Type	Description
`destination_id`	`string`	Unique identifier for the destination. See `Destination`.
`pose`	`Pose`	Pose of the robot on the map.

JSON

  {
    "pose": {
      "xMeters": 2.5,
      "yMeters": 3.0,
      "headingRadians": 1.57
    }
  }