alexzh3/openhumanoid/navigation-stack

Navigation Stack

The navigation stack lives at http://localhost:8787 unless CAPABILITY_SERVER_URL says otherwise.

Important operating model

• Build the map once, then persist it.
• For normal runtime tasks, load the saved map and localize against it.
• Do not rebuild the map for every task.
• Navigation is blocked until localization is ready.

Build and persist a map

curl -s -X POST http://localhost:8787/maps/build \
  -H 'Content-Type: application/json' \
  -d '{"map_id":"lab-main","description":"Main lab map","source":"live_scan"}'

Load an existing map

curl -s -X POST http://localhost:8787/maps/load \
  -H 'Content-Type: application/json' \
  -d '{"map_id":"lab-main"}'

Initialize localization on the saved map

curl -s -X POST http://localhost:8787/localization/initialize \
  -H 'Content-Type: application/json' \
  -d '{"map_id":"lab-main","method":"lidar_global_localization"}'

Navigate to a named landmark

curl -s -X POST http://localhost:8787/navigation/goal \
  -H 'Content-Type: application/json' \
  -d '{"goal_name":"table"}'

Check navigation and localization state

curl -s http://localhost:8787/navigation/status
curl -s http://localhost:8787/localization/status
curl -s http://localhost:8787/maps

Safety

• If no map is loaded, ask the user whether to build a new map or load an existing one.
• If localization is not ready, do not issue a navigation goal yet.
• Prefer named landmarks such as table over freehand map-frame poses unless the user explicitly gives a pose.