Documentation ¶
Overview ¶
Package builtin implements a navigation service.
Index ¶
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
func NewBuiltIn ¶
func NewBuiltIn(ctx context.Context, deps resource.Dependencies, conf resource.Config, logger golog.Logger) (navigation.Service, error)
NewBuiltIn returns a new navigation service for the given robot.
Types ¶
type Config ¶
type Config struct { Store navigation.StoreConfig `json:"store"` BaseName string `json:"base"` MovementSensorName string `json:"movement_sensor"` MotionServiceName string `json:"motion_service"` VisionServices []string `json:"vision_services"` // DegPerSec and MetersPerSec are targets and not hard limits on speed DegPerSec float64 `json:"degs_per_sec,omitempty"` MetersPerSec float64 `json:"meters_per_sec,omitempty"` Obstacles []*spatialmath.GeoObstacleConfig `json:"obstacles,omitempty"` PositionPollingFrequencyHz float64 `json:"position_polling_frequency_hz,omitempty"` ObstaclePollingFrequencyHz float64 `json:"obstacle_polling_frequency_hz,omitempty"` PlanDeviationM float64 `json:"plan_deviation_m,omitempty"` ReplanCostFactor float64 `json:"replan_cost_factor,omitempty"` LogFilePath string `json:"log_file_path"` }
Config describes how to configure the service.
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