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Localization & Navigation

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

Pose

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

Goal

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

LocalizationState

Represents the current state of the localization process.

Field Type Description
state State enum Current state of the localization process.

LocalizationState enum

Name Number Description
STATE_UNKNOWN 0 Default value.
STATE_FAILED 1 Localization failed.
STATE_SUCCEEDED 2 Localization completed successfully.
STATE_LOCALIZING 3 The robot is actively attempting to localize.
STATE_MISLOCALIZED 4 The robot has lost its pose and needs relocalization.
JSON Example
  {
    "state": "STATE_SUCCEEDED"
  }