Navigation
==========

Autonomous navigation and mapping.

.. note::
  ``robot.navigation`` does not launch or tear down Nav2 — it only sends goals
  and queries the live stack. Start and stop the engine with
  ``client.platform.navigation.start`` / ``stop`` (see
  :doc:`../examples/navigation-simple` and :doc:`platform`). Call
  ``robot.navigation.state()`` to probe NavigateToPose readiness after the
  deployment reports ``ready``. Operations report typed errors when their
  runtime dependencies are unavailable.

.. tab-set::
   :sync-group: sdk-language

   .. tab-item:: Python
      :sync: python

      .. literalinclude:: ../examples/scripts/navigation-simple.py
         :language: python

   .. tab-item:: TypeScript
      :sync: typescript

      .. literalinclude:: ../examples/scripts/navigation-simple.ts
         :language: typescript

.. tab-set::
   :sync-group: sdk-language

   .. tab-item:: Python
      :sync: python

      .. automodule:: olo.navigation
         :no-members:

      **Client interfaces**

      .. autoclass:: olo.navigation.Navigation
         :members:

      .. autoclass:: olo.navigation.NavigationHandle
         :members:

      .. autoclass:: olo.navigation.NavigationGoal
         :members:

      **Types**

      .. autoclass:: olo.navigation.NavigationState
         :members:

      .. autoclass:: olo.navigation.NavigationFeedback
         :members:

      .. autoclass:: olo.navigation.NavigationResult
         :members:

      .. autoclass:: olo.navigation.OccupancyGrid
         :members:

      .. autoclass:: olo.navigation.ReachabilityResult
         :members:

      **Enums**

      .. autoclass:: olo.navigation.Availability
         :members:

      .. autoclass:: olo.navigation.Activity
         :members:

      .. autoclass:: olo.navigation.NavigationOutcome
         :members:

   .. tab-item:: TypeScript
      :sync: typescript

      Import from ``olo/navigation``:

      **Client interfaces**

      - :doc:`Navigation </typescript/api/generated/olo/navigation/classes/Navigation>`
        — service wrapper with state, start, navigate, cancel, and
        ``handle()``.
      - :doc:`NavigationHandle </typescript/api/generated/olo/navigation/classes/NavigationHandle>`
        — namespace-scoped scripting surface, including ``currentPose()`` via
        spatial TF.
      - :doc:`NavigationGoal </typescript/api/generated/olo/navigation/classes/NavigationGoal>`
        — accepted goal with async ``result()``, async iteration, and
        ``cancel()``.

      **Types**

      - :doc:`NavigationState </typescript/api/generated/olo/navigation/classes/NavigationState>`
      - :doc:`Availability </typescript/api/generated/olo/navigation/enumerations/Availability>`
      - :doc:`Activity </typescript/api/generated/olo/navigation/enumerations/Activity>`
      - :doc:`NavigationOutcome </typescript/api/generated/olo/navigation/enumerations/NavigationOutcome>`
      - :doc:`OccupancyGrid </typescript/api/generated/olo/navigation/classes/OccupancyGrid>`
      - :doc:`ReachabilityResult </typescript/api/generated/olo/navigation/interfaces/ReachabilityResult>`