Navigation Messages

Data types for autonomous navigation — goals, paths, maps, and obstacle avoidance.

from horus import NavGoal, GoalResult, PathPlan, Waypoint, NavPath, OccupancyGrid, CostMap

NavGoal

Navigation goal — target pose with tolerance.

import horus

goal = horus.NavGoal(
    x=5.0, y=3.0, theta=1.57,
    position_tolerance=0.1,
    angle_tolerance=0.05,
    timeout=30.0,
    timestamp_ns=horus.timestamp_ns(),
)

Field	Type	Default	Description
`x`, `y`, `theta`	`float`	`0.0`	Target pose (m, rad)
`position_tolerance`	`float`	`0.1`	Position tolerance (m)
`angle_tolerance`	`float`	`0.1`	Heading tolerance (rad)
`timeout`	`float`	`30.0`	Goal timeout (seconds)
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

GoalResult

Navigation goal outcome.

result = horus.GoalResult(goal_id=1, status=0, progress=1.0, timestamp_ns=horus.timestamp_ns())

Field	Type	Default	Description
`goal_id`	`int`	`0`	Associated goal identifier
`status`	`int`	`0`	Result status code
`progress`	`float`	`0.0`	Completion progress (0.0-1.0)
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

Waypoint

Single waypoint in a path.

wp = horus.Waypoint(x=2.0, y=3.0, theta=0.0)

Field	Type	Default	Description
`x`, `y`, `theta`	`float`	`0.0`	Waypoint pose (m, rad)

NavPath

Ordered list of waypoints. Created with no parameters.

path = horus.NavPath()

PathPlan

Planned path to a goal.

plan = horus.PathPlan(goal_x=5.0, goal_y=3.0, goal_theta=1.57, timestamp_ns=horus.timestamp_ns())

Field	Type	Default	Description
`goal_x`, `goal_y`, `goal_theta`	`float`	`0.0`	Goal pose (m, rad)
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

OccupancyGrid

2D grid map — each cell is free (0), occupied (100), or unknown (-1).

grid = horus.OccupancyGrid(width=100, height=100, resolution=0.05)

Field	Type	Default	Description
`width`, `height`	`int`	`0`	Grid dimensions (cells)
`resolution`	`float`	`0.05`	Meters per cell

CostMap

Weighted grid for path planning — higher cost = harder to traverse.

costmap = horus.CostMap(width=100, height=100, resolution=0.05)

Field	Type	Default	Description
`width`, `height`	`int`	`0`	Grid dimensions (cells)
`resolution`	`float`	`0.05`	Meters per cell

VelocityObstacle / VelocityObstacles

Dynamic obstacle representation for reactive avoidance.

vo = horus.VelocityObstacle(
    px=2.0, py_=1.0,
    vx=0.5, vy=0.0,
    radius=0.3,
    time_horizon=1.0,
    obstacle_id=0,
)
vos = horus.VelocityObstacles()  # No parameters

Field	Type	Default	Description
`px`	`float`	`0.0`	Position X (m)
`py_`	`float`	`0.0`	Position Y (m) — note trailing underscore
`vx`, `vy`	`float`	`0.0`	Velocity (m/s)
`radius`	`float`	`0.0`	Obstacle radius (m)
`time_horizon`	`float`	`1.0`	Planning time horizon (s)
`obstacle_id`	`int`	`0`	Obstacle identifier