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Navigation Commands

Point-to-Point Navigation

start_navigation

Start point-to-point navigation to a target location.

Command
{
  "start_navigation": {
    "latitude": 52.1409,
    "longitude": 6.2310
  }
}
Response
{
  "type": "start_navigation_respond",
  "message": { "result": 0, "value": null }
}

stop_navigation

Stop current navigation.

Command
{
  "stop_navigation": {}
}

pause_navigation

Pause current navigation.

Command
{
  "pause_navigation": {}
}

resume_navigation

Resume paused navigation.

Command
{
  "resume_navigation": {}
}

Navigate to a specific GPS position with optional arrival angle. More explicit than start_navigation.

Discovered in mower firmware

This command was found in the mqtt_node binary and is separate from start_navigation. It supports an angle parameter for the desired heading at arrival.

Command
{
  "navigate_to_position": {
    "latitude": 52.1409,
    "longitude": 6.2310,
    "angle": 0.0
  }
}
Parameter Type Required Description
latitude float Yes Target GPS latitude (WGS84)
longitude float Yes Target GPS longitude (WGS84)
angle float No Desired heading at arrival (degrees, default 0.0)
Response
{
  "type": "navigate_to_position_respond",
  "message": { "result": 0, "value": null }
}

Timed Navigation

start_time_navigation

Start a timed/scheduled navigation task.

Command
{
  "start_time_navigation": {}
}
Response
{
  "type": "start_time_navigation_respond",
  "message": { "result": 0, "value": null }
}

stop_time_navigation

Stop a timed/scheduled navigation task.

Command
{
  "stop_time_navigation": {}
}
Response
{
  "type": "stop_time_navigation_respond",
  "message": { "result": 0, "value": null }
}

set_navigation_max_speed

Set the maximum speed during navigation.

Command
{
  "set_navigation_max_speed": {
    "max_speed": 0.5
  }
}
Response
{
  "type": "set_navigation_max_speed_respond",
  "message": { "result": 0, "value": null }
}

Patrol Mode

New — discovered in mower firmware

Patrol mode is a separate operational mode from mowing and navigation. The mower follows a predefined patrol route.

start_patrol

Start patrol mode.

Command
{
  "start_patrol": {}
}
Response
{
  "type": "start_patrol_respond",
  "message": { "result": 0, "value": null }
}

stop_patrol

Stop patrol mode.

Command
{
  "stop_patrol": {}
}
Response
{
  "type": "stop_patrol_respond",
  "message": { "result": 0, "value": null }
}

Charging / Docking

go_to_charge

Navigate back to the charging station.

ROS service: /robot_decision/nav_to_recharge

Command
{
  "go_to_charge": {}
}
Response
{
  "type": "go_to_charge_respond",
  "message": { "result": 0, "value": null }
}

go_pile

Navigate to the charging pile.

LoRa mapping: Queue 0x25, payload [0x35, 0x0B]

Command
{
  "go_pile": {}
}
Response
{
  "type": "go_pile_respond",
  "message": { "result": 0, "value": null }
}

stop_to_charge

Cancel return-to-charger navigation.

ROS service: /robot_decision/cancel_recharge

Command
{
  "stop_to_charge": {}
}

auto_recharge

Enable automatic recharge when battery is low.

ROS service: /robot_decision/auto_recharge

Command
{
  "auto_recharge": {}
}

auto_charge_threshold

Set the battery threshold for automatic recharging.

Command
{
  "auto_charge_threshold": {
    "threshold": 20
  }
}
Response
{
  "type": "auto_charge_threshold_respond",
  "message": { "result": 0, "value": null }
}

get_recharge_pos

Get the saved charging station position.

Command
{
  "get_recharge_pos": {}
}
Response
{
  "type": "get_recharge_pos_respond",
  "message": {
    "result": 0,
    "value": {
      "latitude": 52.1409,
      "longitude": 6.2310,
      "orient_flag": 0
    }
  }
}

save_recharge_pos

Save the current position as the charging station location.

ROS service: /robot_decision/save_charging_pose

Command
{
  "save_recharge_pos": {}
}

Manual Control (Joystick)

App route: /manulController (note: typo in app)

start_move

Start manual movement. The app sends continuous position updates.

Command
{
  "start_move": {
    "direction": 45,
    "speed": 0.5
  }
}
Response
{
  "type": "start_move_respond",
  "message": { "result": 0, "value": null }
}

Continuous updates

The app's ManulControllerPageLogic sends continuous writeDataForMove updates with direction/speed calculated from joystick offset.

stop_move

Stop manual movement.

Command
{
  "stop_move": {}
}
Response
{
  "type": "stop_move_respond",
  "message": { "result": 0, "value": null }
}

sequenceDiagram
    participant App
    participant Charger
    participant Mower

    Note over App,Mower: Return to Charger
    App->>Charger: MQTT: go_to_charge
    Charger->>Mower: LoRa: go_pile [0x35, 0x0B]
    Mower->>Mower: ROS: nav_to_recharge

    loop Navigation Progress
        Mower->>App: report_state_robot {x, y, z, work_status}
    end

    Mower->>Mower: ArUco QR code detection
    Mower->>Mower: Dock with charger
    Mower->>App: report_state_robot {battery_state: "CHARGING"}

Complete Command Summary

Command Response Via Charger LoRa? ROS Service
start_navigation start_navigation_respond No (direct MQTT) —
stop_navigation stop_navigation_respond No —
pause_navigation pause_navigation_respond No —
resume_navigation resume_navigation_respond No —
navigate_to_position navigate_to_position_respond No —
start_time_navigation start_time_navigation_respond No —
stop_time_navigation stop_time_navigation_respond No —
set_navigation_max_speed set_navigation_max_speed_respond No —
start_patrol start_patrol_respond No —
stop_patrol stop_patrol_respond No —
go_to_charge go_to_charge_respond No /robot_decision/nav_to_recharge
go_pile go_pile_respond Yes (LoRa 0x25) —
stop_to_charge stop_to_charge_respond No /robot_decision/cancel_recharge
auto_recharge auto_recharge_respond No /robot_decision/auto_recharge
auto_charge_threshold auto_charge_threshold_respond No —
get_recharge_pos get_recharge_pos_respond No —
save_recharge_pos save_recharge_pos_respond No /robot_decision/save_charging_pose
start_move start_move_respond No —
stop_move stop_move_respond No —