Navigation

Overview

Maurice operates using a dual-system navigation approach:

Core Navigation System

• Uses RGBD+LiDAR SLAM for localization

• Creates and maintains an occupancy map for obstacle-free path planning

• Continuously stores and updates a pose-graph representation of the environment for semantic navigation

Navigation Methods

Maurice can navigate in three ways:

• By coordinates

• Through text prompts to stored locations

• Through text prompts to visible locations (in-sight navigation)

For successful navigation, Maurice requires both:

• An occupancy map (for understanding free/occupied space)

• A pose-graph (for understanding the environment's structure)

The system continuously updates its environmental understanding through the pose-graph representation, allowing Maurice to maintain an accurate model of its surroundings for navigation purposes.

Setup

Slam Occupancy Map

• Initial Position

  • Place Maurice in a repeatable starting position

  • This position will serve as the map's origin

  • Note: Choose this position carefully as it will be your reference point

• Start Mapping

  • Execute command: innate map new

  • Enter your desired map name when prompted

  • A visualization window will appear showing:

    • Current map generation

    • Sensor data window

• Mapping Process

  • Drive Maurice through the environment using either:

    • The mobile app

    • WASD keys on your keyboard

  • Mapping best practices:

    • Cover all areas where Maurice will operate

    • Perform regular 360-degree turns to avoid sensor blind spots

    • Revisit key regions multiple times to improve map accuracy

• Save Map

  • Press escape to finish mapping

  • The map will automatically save to ~/maps

• View Map

  • To view your created map, use command:

    innate map view map_name

Pose Graph Map

1. Initial Setup

   • Place Maurice in the same origin position used for the occupancy map

   • Load your previously created map using:

     innate map load map_name

2. Create New Pose-Graph

   • Start the pose-graph creation process:

     innate pose-graph new pg_name

3. Environment Coverage

   • Drive Maurice through the environment

   • Ensure the robot observes:

     • All key rooms

     • Important objects relevant to planned tasks

   • The robot will automatically:

     • Build its proprietary pose-graph representation

     • Create a navigable understanding of the environment

4. Managing the Pose-Graph

   • Save the pose-graph:

     innate pose-graph save pg_name

   • View the pose-graph:

     innate pose-graph view pg_name

   • Load a pose-graph for use:

   Note: The -dynamic argument controls whether the pose-graph:

    innate pose-graph load pg_name --dynamic False
    
    #`True`: Continuously updates with new environmental information
    #`False`: Remains static using only saved information

Using Navigation

Python SDK

Setup

from innate import navigation
# Initialize navigation module
navigation.init()

Get Current Pose

current_pose = navigation.get_current_pose()
# Returns: tuple (x, y, theta)# Example: (1.5, -0.3, 0.785)

Go to Pose

navigation.go_to_pose(x, y, theta)
# Parameters:#   x: float - x coordinate in meters#   y: float - y coordinate in meters#   theta: float - orientation in radians

Go to Memory

navigation.go_to_memory("text prompt")
# Parameter:#   text prompt: str - description of saved location# Example: navigation.go_to_memory("kitchen counter")

Go to In Sight

navigation.go_to_in_sight("text prompt", distance)
# Parameters:#   text prompt: str - description of visible location/object#   distance: float - desired distance from object in meters# Example: navigation.go_to_in_sight("blue chair", 0.5)

Interrupt Navigation

navigation.interrupt()
# Immediately stops current navigation command# Can be used to halt any ongoing navigation task

CLI

Get Current Pose

innate navigation get-current-pose
# Returns: x y theta# Example output: 1.5 -0.3 0.785

Go to Pose

innate navigation go-to-pose <x> <y> <theta>
# Parameters:#   x: x coordinate in meters#   y: y coordinate in meters#   theta: orientation in radians# Example: innate navigation go-to-pose 1.5 -0.3 0.785

Go to Memory

innate navigation go-to-memory "text prompt"
# Parameter: text description of saved location# Example: innate navigation go-to-memory "kitchen counter"

Go to In Sight

innate navigation go-to-in-sight "text prompt" <distance>
# Parameters:#   text prompt: description of visible location/object#   distance: desired distance from object in meters# Example: innate navigation go-to-in-sight "blue chair" 0.5

Interrupt Navigation

innate navigation interrupt
# Immediately stops current navigation command