# Navigation service API

Give commands to define waypoints and move your machine along those waypoints while avoiding obstacles.
> Source: https://docs.viam.com/reference/apis/services/navigation/


> **Discontinued:**
> 
> 
> Support for the navigation service has been discontinued.
> This page is retained for reference only.
> 

The navigation service API allows you to define waypoints and move your machine along those waypoints while avoiding obstacles.

The [navigation service](/reference/services/navigation/) supports the following methods:

<!-- prettier-ignore -->
| Method Name | Description |
| ----------- | ----------- |
| [`GetMode`](/reference/apis/services/navigation/#getmode) | Get the `Mode` the service is operating in. |
| [`SetMode`](/reference/apis/services/navigation/#setmode) | Set the `Mode` the service is operating in. |
| [`GetLocation`](/reference/apis/services/navigation/#getlocation) | Get the current location of the robot in the navigation service. |
| [`GetWaypoints`](/reference/apis/services/navigation/#getwaypoints) | Get an array of waypoints currently in the service's data storage. |
| [`AddWaypoint`](/reference/apis/services/navigation/#addwaypoint) | Add a waypoint to the service's data storage. |
| [`RemoveWaypoint`](/reference/apis/services/navigation/#removewaypoint) | Remove a waypoint from the service's data storage. |
| [`GetObstacles`](/reference/apis/services/navigation/#getobstacles) | Get an array or list of the obstacles currently in the service's data storage. |
| [`GetPaths`](/reference/apis/services/navigation/#getpaths) | Get each path, the series of geo points the robot plans to travel through to get to a destination waypoint, in the machine's motion planning. |
| [`GetProperties`](/reference/apis/services/navigation/#getproperties) | Get information about the navigation service. |
| [`Reconfigure`](/reference/apis/services/navigation/#reconfigure) | Reconfigure this resource. |
| [`DoCommand`](/reference/apis/services/navigation/#docommand) | Execute model-specific commands that are not otherwise defined by the service API. |
| [`GetResourceName`](/reference/apis/services/navigation/#getresourcename) | Get the `ResourceName` for this instance of the navigation service. |
| [`Close`](/reference/apis/services/navigation/#close) | Safely shut down the resource and prevent further use. |


## API

### GetMode

Get the `Mode` the service is operating in.

There are two options for modes: `MODE_MANUAL` or `MODE_WAYPOINT`.

- `MODE_WAYPOINT`: Start to look for added waypoints and begin autonomous navigation.
- `MODE_MANUAL`: Stop autonomous navigation between waypoints and allow the base to be controlled manually.

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**Parameters:**

- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- (viam.services.navigation.Mode.ValueType): : The Mode the service is operating in.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")

# Get the Mode the service is operating in
await my_nav.get_mode()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.get_mode).

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**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [(Mode)](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Mode): The `Mode` the service is operating in.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
// Get the Mode the service is operating in.
mode, err := myNav.Mode(context.Background(), nil)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Service).

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**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<[navigationApi](https://ts.viam.dev/modules/navigationApi.html).[Mode](https://ts.viam.dev/enums/navigationApi.Mode.html)>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const navigation = new VIAM.NavigationClient(machine, "my_navigation");

const mode = await navigation.getMode();
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/NavigationClient.html#getmode).

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### SetMode

Set the `Mode` the service is operating in.

There are two options for modes: `MODE_MANUAL` or `MODE_WAYPOINT`.

- `MODE_WAYPOINT`: Start to look for added waypoints and begin autonomous navigation.
- `MODE_MANUAL`: Stop autonomous navigation between waypoints and allow the base to be controlled manually.

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**Parameters:**

- `mode` (viam.services.navigation.Mode.ValueType) (required): The Mode for the service to operate in.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- None.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")

# Set the Mode the service is operating in to MODE_WAYPOINT and begin navigation
await my_nav.set_mode(Mode.ValueType.MODE_WAYPOINT)
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.set_mode).

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**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `mode` [(Mode)](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Mode): The `Mode` for the service to operate in.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
// Set the Mode the service is operating in to ModeWaypoint and begin navigation.
err := myNav.SetMode(context.Background(), navigation.ModeWaypoint, nil)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Service).

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**Parameters:**

- `mode` ([navigationApi](https://ts.viam.dev/modules/navigationApi.html)) (required): The mode for the service to operate in.

  - 0: MODE_UNSPECIFIED
  - 1: MODE_MANUAL
  - 2: MODE_WAYPOINT
  - 3: MODE_EXPLORE.

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<void>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const navigation = new VIAM.NavigationClient(machine, "my_navigation");

// Set the mode to 2 which corresponds to WAYPOINT
await navigation.setMode(2);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/NavigationClient.html#setmode).

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### GetLocation

Get the current location of the robot in the navigation service.

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**Parameters:**

- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- ([viam.services.navigation.GeoPoint](https://python.viam.dev/autoapi/viam/services/navigation/index.html#viam.services.navigation.GeoPoint)): : The current location of the robot in the navigation service,
  represented in a GeoPoint with latitude and longitude values.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")

# Get the current location of the robot in the navigation service
location = await my_nav.get_location()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.get_location).

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**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [(\*spatialmath.GeoPose)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#GeoPose): The current location of the robot in the navigation service, represented in a `Point` with latitude and longitude values.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
// Get the current location of the robot in the navigation service.
location, err := myNav.Location(context.Background(), nil)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Service).

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**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<[navigationApi](https://ts.viam.dev/modules/navigationApi.html).[GetLocationResponse](https://ts.viam.dev/classes/navigationApi.GetLocationResponse.html)>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const navigation = new VIAM.NavigationClient(machine, "my_navigation");

const location = await navigation.getLocation();
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/NavigationClient.html#getlocation).

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### GetWaypoints

Get an array of waypoints currently in the service's data storage.
These are locations designated within a path for the robot to navigate to.

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**Parameters:**

- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- ([List[viam.services.navigation.Waypoint]](https://python.viam.dev/autoapi/viam/services/navigation/index.html#viam.services.navigation.Waypoint)): : An array comprised of each Waypoint in the service’s data storage.
  These are locations designated within a path for the robot to navigate to.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")

# Get a list containing each waypoint stored by the navigation service
waypoints = await my_nav.get_waypoints()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.get_waypoints).

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**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [([]Waypoint)](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Waypoint): An array comprised of each `Waypoint` in the service's data storage. These are locations designated within a path for the robot to navigate to.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
waypoints, err := myNav.Waypoints(context.Background(), nil)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Service).

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**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<[navigationApi](https://ts.viam.dev/modules/navigationApi.html).[Waypoint](https://ts.viam.dev/classes/navigationApi.Waypoint.html)[]>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const navigation = new VIAM.NavigationClient(machine, "my_navigation");

const waypoints = await navigation.getWayPoints();
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/NavigationClient.html#getwaypoints).

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### AddWaypoint

Add a waypoint to the service's data storage.

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**Parameters:**

- `point` ([viam.services.navigation.GeoPoint](https://python.viam.dev/autoapi/viam/services/navigation/index.html#viam.services.navigation.GeoPoint)) (required): A waypoint represented in a GeoPoint with latitude and longitude values.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- None.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")

 # Create a new waypoint with latitude and longitude values of 0 degrees
 location = GeoPoint(latitude=0, longitude=0)


 # Add your waypoint to the service's data storage
 await my_nav.add_waypoint(point=location)
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.add_waypoint).

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**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `point` [(\*geo.Point)](https://pkg.go.dev/github.com/kellydunn/golang-geo#Point): A waypoint represented in a `Point` with latitude (lat) and longitude (lng) values.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
// Create a new waypoint with latitude and longitude values of 0 degrees.
// Assumes you have imported "github.com/kellydunn/golang-geo" as `geo`.
location := geo.NewPoint(0, 0)

// Add your waypoint to the service's data storage.
err := myNav.AddWaypoint(context.Background(), location, nil)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Service).

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**Parameters:**

- `location` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): A waypoint described by latitude and longitude values.
- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<void>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const navigation = new VIAM.NavigationClient(machine, "my_navigation");

const location = { latitude: 40.7128, longitude: -74.006 };
await navigation.addWayPoint(location);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/NavigationClient.html#addwaypoint).

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### RemoveWaypoint

Remove a waypoint from the service's data storage.
If the robot is currently navigating to this waypoint, the motion will be canceled, and the robot will proceed to the next waypoint.

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**Parameters:**

- `id` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The MongoDB ObjectID of the Waypoint to remove from the service’s data storage.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- None.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")

# Remove the waypoint matching that ObjectID from the service's data storage
await my_nav.remove_waypoint(waypoint_id)
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.remove_waypoint).

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**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `id` [(primitive.ObjectID)](https://pkg.go.dev/go.mongodb.org/mongo-driver/bson/primitive#ObjectID): The MongoDB ObjectID of the `Waypoint` to remove from the service's data storage.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
// Assumes you have already called AddWaypoint once and the waypoint has not yet been reached.
waypoints, err := myNav.Waypoints(context.Background(), nil)
if (err != nil || len(waypoints) == 0) {
    return
}

// Remove the first waypoint from the service's data storage.
err = myNav.RemoveWaypoint(context.Background(), waypoints[0].ID, nil)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Service).

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**Parameters:**

- `id` (string) (required): The MongoDB ObjectID of the waypoint to remove from the
  service's data storage.
- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<void>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const navigation = new VIAM.NavigationClient(machine, "my_navigation");

// Remove the first waypoint
if (waypoints.length > 0) {
  await navigation.removeWayPoint(waypoints[0].id);
}
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/NavigationClient.html#removewaypoint).

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### GetObstacles

Get an array or list of the obstacles currently in the service's data storage.
These are objects designated for the robot to avoid when navigating.
These include all transient obstacles which are discovered by the vision services configured for the navigation service, in addition to the obstacles that are configured as a part of the service.
See the [motion service](/reference/services/motion/) for more information.

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**Parameters:**

- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- ([List[viam.services.navigation.GeoGeometry]](https://python.viam.dev/autoapi/viam/services/navigation/index.html#viam.services.navigation.GeoGeometry)): : A list comprised of each GeoGeometry in the service’s data storage.
  These are objects designated for the robot to avoid when navigating.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")

# Get a list containing each obstacle stored by the navigation service
obstacles = await my_nav.get_obstacles()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.get_obstacles).

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**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [([]\*spatialmath.GeoGeometry)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#GeoGeometry): An array comprised of each `GeoObstacle` in the service's data storage. These are objects designated for the robot to avoid when navigating.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
// Get an array containing each obstacle stored by the navigation service.
obstacles, err := myNav.Obstacles(context.Background(), nil)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Service).

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**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<[commonApi](https://ts.viam.dev/modules/commonApi.html).[GeoGeometry](https://ts.viam.dev/classes/commonApi.GeoGeometry.html)[]>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const navigation = new VIAM.NavigationClient(machine, "my_navigation");

const obstacles = await navigation.getObstacles();
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/NavigationClient.html#getobstacles).

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### GetPaths

Get each path, the series of geo points the robot plans to travel through to get to a destination waypoint, in the machine's motion planning.

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**Parameters:**

- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- ([List[viam.proto.service.navigation.Path]](https://python.viam.dev/autoapi/viam/proto/service/navigation/index.html#viam.proto.service.navigation.Path)): : An array comprised of Paths, where each path is either a user-provided destination or
  a Waypoint, along with the corresponding set of geopoints. This outlines the route the machine is expected to take to
  reach the specified destination or Waypoint.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")

# Get a list containing each path stored by the navigation service
paths = await my_nav.get_paths()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.get_paths).

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**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [([]\*Path)](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Path): An array of paths, each path being a user-provided destination, or [`Waypoint`](#addwaypoint), and the set of [geo `Point`s](https://pkg.go.dev/github.com/kellydunn/golang-geo#Point) the robot plans to travel through to get there.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
// Get an array containing each path stored by the navigation service.
paths, err := myNav.Paths(context.Background(), nil)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Service).

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**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<[navigationApi](https://ts.viam.dev/modules/navigationApi.html).[Path](https://ts.viam.dev/classes/navigationApi.Path.html)[]>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const navigation = new VIAM.NavigationClient(machine, "my_navigation");

const paths = await navigation.getPaths();
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/NavigationClient.html#getpaths).

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### GetProperties

Get information about the navigation service.

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**Parameters:**

- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- (viam.services.navigation.MapType.ValueType): : Information about the type of map the service is using.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")

# Get the properties of the current navigation service.
nav_properties = await my_nav.get_properties()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.get_properties).

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**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.

**Returns:**

- [(Properties)](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Properties): Information about the type of map the service is using.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
// Get the properties of the current navigation service.
navProperties, err := myNav.Properties(context.Background())
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Service).

{{% /tab %}}
{{% tab name="TypeScript" %}}

**Parameters:**

- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<[navigationApi](https://ts.viam.dev/modules/navigationApi.html).[GetPropertiesResponse](https://ts.viam.dev/classes/navigationApi.GetPropertiesResponse.html)>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const navigation = new VIAM.NavigationClient(machine, "my_navigation");

const properties = await navigation.getProperties();
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/NavigationClient.html#getproperties).

{{% /tab %}}
{{< /tabs >}}

### Reconfigure

Reconfigure this resource.
Reconfigure must reconfigure the resource atomically and in place.

{{< tabs >}}
{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `deps` [(Dependencies)](https://pkg.go.dev/go.viam.com/rdk/resource#Dependencies): The resource dependencies.
- `conf` [(Config)](https://pkg.go.dev/go.viam.com/rdk/resource#Config): The resource configuration.

**Returns:**

- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).

{{% /tab %}}
{{< /tabs >}}

### DoCommand

Execute model-specific commands that are not otherwise defined by the service API.
Most models do not implement `DoCommand`.
Any available model-specific commands should be covered in the model's documentation.
If you are implementing your own navigation service and want to add features that have no corresponding built-in API method, you can implement them with [`DoCommand`](/reference/sdks/docommand/).

{{< tabs >}}
{{% tab name="Python" %}}

**Parameters:**

- `command` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), ValueTypes]) (required): The command to execute.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): : Result of the executed command.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_navigation_svc = NavigationClient.from_robot(robot=machine, "my_navigation_svc")

my_command = {
  "cmnd": "dosomething",
  "someparameter": 52
}

await my_navigation_svc.do_command(command=my_command)
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.do_command).

{{% /tab %}}
{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `cmd` [(map[string]interface{})](https://go.dev/blog/maps): The command to execute.

**Returns:**

- [(map[string]interface{})](https://pkg.go.dev/builtin#string): The command response.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
myNavigationSvc, err := navigation.FromProvider(machine, "my_navigation_svc")

command := map[string]interface{}{"cmd": "test", "data1": 500}
result, err := myNavigationSvc.DoCommand(context.Background(), command)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).

{{% /tab %}}
{{% tab name="TypeScript" %}}

**Parameters:**

- `command` ([Struct](https://ts.viam.dev/classes/Struct.html)) (required): The command to execute. Accepts either a [Struct](https://ts.viam.dev/classes/Struct.html) or
  a plain object, which will be converted automatically.
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<[JsonValue](https://ts.viam.dev/types/JsonValue.html)>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
// Plain object (recommended)
const result = await resource.doCommand({
  myCommand: { key: "value" },
});

// Struct (still supported)
import { Struct } from "@viamrobotics/sdk";

const result = await resource.doCommand(
  Struct.fromJson({ myCommand: { key: "value" } }),
);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/NavigationClient.html#docommand).

{{% /tab %}}
{{< /tabs >}}

### GetResourceName

Get the `ResourceName` for this instance of the navigation service.

{{< tabs >}}
{{% tab name="Python" %}}

**Parameters:**

- `name` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The name of the Resource.

**Returns:**

- ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName)): : The ResourceName of this Resource.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_navigation_svc_name = NavigationClient.get_resource_name("my_navigation_svc")
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.get_resource_name).

{{% /tab %}}
{{% tab name="Go" %}}

**Parameters:**

- None.

**Returns:**

- [(Name)](https://pkg.go.dev/go.viam.com/rdk@v0.89.0/resource#Name)

**Example:**

```go {class="line-numbers linkable-line-numbers"}
my_nav, err := navigation.FromProvider(machine, "my_nav_svc")

err := my_nav.Name()
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).

{{% /tab %}}
{{% tab name="TypeScript" %}}

**Parameters:**

- None.

**Returns:**

- (string): The name of the resource.

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
navigation.name;
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/NavigationClient.html#name).

{{% /tab %}}
{{< /tabs >}}

### Close

Safely shut down the resource and prevent further use.

{{< tabs >}}
{{% tab name="Python" %}}

**Parameters:**

- None.

**Returns:**

- None.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_navigation_svc = NavigationClient.from_robot(robot=machine, name="my_navigation_svc")
await my_navigation_svc.close()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.close).

{{% /tab %}}
{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.

**Returns:**

- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
my_nav, err := navigation.FromProvider(machine, "my_nav_svc")

err := my_nav.Close(context.Background())
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).

{{% /tab %}}
{{< /tabs >}}