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Raya Documentation

Getting Started

  • Introduction
  • Install Ra-Ya SDK
  • Create your first app (Robot)
  • Create your first app (Simulation)

RaYa Python library

  • Raya Python Library
    • Controllers
      • Sensors
        • Synchronous methods
          • get_all_sensors_values()
          • get_sensors_list()
          • get_sensor_value()
          • check_sensor_in_range()
          • create_threshold_listener()
          • create_boolean_listener()
        • Exceptions
      • LiDAR
        • Synchronous methods
          • get_laser_info()
          • check_obstacle()
          • create_obstacle_listener()
          • get_raw_data()
        • Exceptions
        • Enumerations
      • Cameras
        • Synchronous methods
          • create_color_frame_listener()
          • is_camera_enabled()
          • available_color_cameras()
          • delete_listener()
        • Asynchronous methods
          • enable_color_camera()
          • disable_color_camera()
          • get_next_frame()
          • enable_streaming()
          • disable_streaming()
        • Exceptions
      • Leds
        • Synchronous methods
          • get_groups()
          • get_colors()
          • get_animations()
          • get_max_speed()
        • Asynchronous methods
          • animation()
          • set_color()
          • turn_off_group()
          • turn_off_all()
        • Exceptions
        • Feedbacks
        • Enumerations
      • Motion
        • Synchronous methods
          • is_moving()
          • check_last_exception()
          • get_last_result()
        • Asynchronous methods
          • move_linear()
          • rotate()
          • await_until_stop()
          • set_velocity()
          • cancel_motion()
        • Exceptions
        • Feedbacks
        • Enumerations
      • Comunication
        • Synchronous methods
          • mqtt_remove_subscription()
        • Asynchronous methods
          • mqtt_create_subscription()
          • mqtt_publish_message()
        • Exceptions
      • Sounds
        • Synchronous methods
          • get_predefined_sounds()
          • is_playing()
          • is_recording()
        • Asynchronous methods
          • cancel_sound()
          • record_sound()
          • play_sound()
        • Handlers
          • SoundData Object
        • Exceptions
        • Feedbacks
      • Status
        • Asynchronous methods
          • get_raya_status()
          • get_available_arms()
          • get_localization_status()
          • get_manipulation_status()
          • get_battery_status()
        • Exceptions
        • Enumerations
      • Arms
        • General Methods
          • Asynchronous Methods
            • get_last_result()
            • check_last_exception()
        • Get Arm/Joint Information
          • Synchronous Methods
            • get_arms_list()
            • get_groups_list()
            • get_joints_list()
            • get_joints_limits()
            • get_joint_type()
            • get_arm_state()
          • Asynchronous Methods
            • get_predefined_poses_list()
            • get_predefined_trajectories_list()
            • get_current_joints_position()
            • get_current_pose()
            • get_current_joint_position()
        • Arm/Joint Checking Methods
          • Synchronous Methods
            • is_linear_joint()
            • is_rotational_joint()
          • Asynchronous Methods
            • is_pose_valid()
            • is_pose_valid_q()
            • is_joints_position_valid()
            • is_any_arm_in_execution()
            • are_checkings_in_progress()
        • Manage Predefined Data
          • manage_predefined_trajectory()
          • manage_predefined_pose()
        • Execute Arm Movements
          • set_predefined_pose()
          • set_joints_position()
          • set_joint_position()
          • set_pose()
          • set_pose_q()
          • execute_predefined_trajectory()
          • execute_predefined_poses_array()
          • execute_joints_positions_array()
          • execute_poses_array()
          • execute_poses_array_q()
          • set_multi_arm_pose()
        • Gripper
          • gripper_cmd()
        • Cancel Execution
          • cancel_execution()
        • Objects
          • add_attached_object()
          • remove_attached_object()
          • add_collision_object()
          • remove_collision_object()
        • Constraints
          • add_constraints()
          • remove_constraints()
        • Tools
          • convert_orientation()
        • Exceptions
        • Feedbacks
        • Enumerations
      • UI
        • Asynchronous methods
          • display_split_screen()
          • display_modal()
          • display_input_modal()
          • display_screen()
          • display_interactive_map()
          • display_action_screen()
          • display_choice_selector()
          • display_animation()
          • show_animation()
          • open_link()
          • open_video()
          • open_conference()
          • open_interacty()
        • Exceptions
        • Enumerations
      • Interactions
        • Synchronous methods
          • get_interactions()
          • interaction_running()
        • Asynchronous methods
          • wait_interaction_finished()
          • play_interaction()
        • Exceptions
        • Feedbacks
      • Manipulation
        • Synchronous methods
          • is_manipulation()
        • Asynchronous methods
          • cancel_manipulation()
          • wait_manipulation_finished()
          • place_object_with_reference()
          • place_object_with_tag()
          • clean_arms_status()
          • pick_object_point()
          • pick_object()
          • place_object_with_point()
        • Exceptions
        • Feedbacks
      • CV
        • Asynchronous methods
          • get_available_models()
          • enable_model()
          • disable_model()
          • disable_all_models()
          • train_model_folder_path()
          • train_model()
          • delete_face()
        • Handlers
          • find_tags()
          • get_current_predictions()
          • get_predictions_once()
          • set_predictions_callback()
          • set_img_predictions_callback()
          • find_objects()
          • cancel_find_objects()
          • get_objects_names()
        • Exceptions
      • Navigation
        • zones & locations
          • asynchronous_methods
            • save_zone()
            • order_zone_points()
            • get_sorted_zone_point()
            • delete_zone()
            • get_zone_center()
            • get_zones_list()
            • get_zones()
            • get_locations()
            • get_locations_list()
            • save_location()
            • delete_location()
            • get_location()
        • navigation
          • asynchronous_methods
            • enable_speed_zones()
            • disable_speed_zones()
            • update_robotic_footprint()
            • cancel_navigation()
            • navigate_close_to_position()
            • go_to_angle()
            • navigate_to_zone()
            • navigate_to_location()
            • navigate_to_position()
            • get_position()
            • is_in_zone()
            • update_current_nav_goal()
            • get_costmap()
            • check_path_to_goal()
            • get_status()
            • await_until_stop()
          • synchronous_methods
            • get_last_result()
            • check_last_exception()
        • maps & position
          • asynchronous_methods
            • update_map()
            • download_map()
            • set_map()
            • is_mapping()
            • is_localized()
            • get_map()
            • get_list_of_maps()
            • start_mapping()
            • continue_mapping()
            • stop_mapping()
            • generate_speed_zones_files()
            • get_current_map()
        • Feedbacks
        • Exceptions
      • NLP
        • Asynchronous methods
          • tts_play_text()
          • stt_transcribe_from_mic()
          • stt_transcribe_from_file()
          • tts_set_provider()
          • stt_set_provider()
        • Exceptions
        • Feedbacks
      • Fleet
        • Synchronous methods
          • set_msgs_from_fleet_callback()
        • Asynchronous methods
          • request_action()
          • finish_task()
          • update_app_status()
          • open_camera_stream()
        • Exceptions
        • Enumerations
    • General Enumerations
    • Exceptions
    • Tools
      • Finite States Machine Module
        • Simple FSM
        • Multiple FSM
    • Examples
      • Cameras
        • cameras_get_image_frame
        • cameras_list
      • Computer Vision
        • cv_face_detection
        • cv_list_models
        • cv_object_detection
        • cv_object_segmentator
        • cv_tags
      • Chest Interface
        • chest_animation_lottie
        • chest_animation
        • chest_choice
        • chest_game
        • chest_keyboard
        • chest_play_video
      • FSM
        • fsm_multiple
        • fsm_simple
      • Health Monitoring
        • health_monitor
        • health_play_predefined_retry
      • Miscellaneous
        • async_task
        • get_args
        • hello_world
      • Navigation
        • motion
        • nav_get_current_position
        • nav_get_info
        • nav_to_location
        • nav_update_footprint
        • nav_update_map
      • Sensors and Peripherals
        • leds
        • lidar_scan
        • sensors_chest_button_listener
        • sensors_list
        • sensors_print
      • Skills
        • skill_fsm_simple
        • skill_fsm_run_by_methods
        • skill_run_complete
      • Sound
        • sound_play_custom
        • sound_play_predefined_multiple_actions
        • sound_play_predefined
        • sound_record_and_play
        • sound_record_save
    • Skills
      • Skills Overview
      • Skill Development Guide
      • Skill Usage Guide
      • Skills Examples
        • skill_fsm_simple
        • skill_fsm_run_by_methods
        • skill_run_complete

Robots

  • Robots Availables
    • Gary
      • LEDs colors
      • Sensors

Unlimited Robotics SDK

  • Unlimited Robotics SDK
    • Commands
      • Simulator
      • Init
      • Scan
      • Connect
      • Run
      • Update
      • Kill
      • Command
      • Tools
      • Skills
        • Install
        • Install_deps
  1. Docs
  2. Raya Python Library
  3. Examples
  4. Navigation Examples
  5. nav_update_footprint
Edit on GitHub

nav_update_footprint¶

Overview¶

The nav_update_footprint application updates the robot’s footprint to a new polygonal shape, ensuring accurate navigation.

Execution¶

The application can be executed using:

python3 nav_update_footprint/ --auto-run

Inputs¶

  • No command-line arguments or user inputs are required.

Outputs¶

  • Log messages indicating the footprint update process.

  • Confirmation that the footprint has been successfully updated.

Behavior¶

  • The application starts and logs that it is running.

  • It automatically updates the robot’s footprint to the new shape.

  • The new footprint forms a trapezoidal-like shape, defined by the following four points relative to the robot’s center:

    • Front-left: (-0.5m, 0.40m)

    • Front-right: (0.5m, 0.40m)

    • Rear-right: (0.25m, -0.64m)

    • Rear-left: (-0.25m, -0.64m)

  • A confirmation message is logged once the update is complete.

  • The application finishes execution.

Example Output¶

# python3 nav_update_footprint/ --auto-run
[INFO] [timestamp] [pyraya.nav_update_footprint]: Auto running the app
[WARNING] [timestamp] [pyraya.nav_update_footprint]: Updating footprint ...
[INFO] [timestamp] [pyraya.nav_update_footprint]: Footprint updated
← nav_to_location nav_update_map  →

Page contents

  • nav_update_footprint
    • Overview
    • Execution
    • Inputs
    • Outputs
    • Behavior
    • Example Output
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