nav_get_current_position

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Overview

The nav_get_current_position example retrieves the robot’s current position and orientation in both meters and pixels, based on its localization on a predefined map.

Inputs

• No mandatory command-line arguments.

• The application automatically retrieves the robot’s position.

Outputs

Log messages showing:

• The map used for localization.

• The robot’s position in meters and pixels.

• The robot’s orientation in both radians and degrees.

Execution

The application can be executed using:

python3 nav_get_current_position/ --auto-run

Behavior

• The application initializes and retrieves the robot’s localization data.

• It logs the map name, coordinates in meters and pixels, and orientation in radians and degrees.

• Once the data is logged, the application completes execution.

Example Output

During execution, the output logs follow this pattern:

[INFO] [timestamp] [pyraya.nav_get_current_position]: Auto running the app
[INFO] [timestamp] [pyraya.nav_get_current_position]: Setup
[INFO] [timestamp] [pyraya.nav_get_current_position]: Robot localized using <map_name>
[INFO] [timestamp] [pyraya.nav_get_current_position]: Robot coordinates (meters) = <x_meters>, <y_meters>
[INFO] [timestamp] [pyraya.nav_get_current_position]: Robot coordinates (pixels) = <x_pixels>, <y_pixels>
[INFO] [timestamp] [pyraya.nav_get_current_position]: Robot orientation (radians) = <orientation_radians>
[INFO] [timestamp] [pyraya.nav_get_current_position]: Robot orientation (degrees) = <orientation_degrees>