builtin

Documentation

Overview

Package builtin contains the default navigation service, along with a gRPC server and client

Index

• func NewBuiltIn(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (navigation.Service, error)
• type Config
  • func (conf *Config) Validate(path string) ([]string, error)

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"`
	// DegPerSec and MetersPerSec are targets and not hard limits on speed
	DegPerSec    float64                          `json:"degs_per_sec"`
	MetersPerSec float64                          `json:"meters_per_sec"`
	Obstacles    []*spatialmath.GeoObstacleConfig `json:"obstacles,omitempty"`
}

Config describes how to configure the service.

func (*Config) Validate

func (conf *Config) Validate(path string) ([]string, error)

Validate creates the list of implicit dependencies.