Native Navigation

OhhO OS ships a built-in, no-ROS navigation stack (ohho.nav) — the lightweight counterpart to Nav2's core loop, pure standard library, running on any robot with base.drive:

  • Occupancy-grid mapping from the robot's planar scan (perception.scan)
  • Costmap obstacle inflation by the robot's radius
  • A* path planning (8-connected, replans while driving)
  • Frontier exploration — drive into the unknown until the map is complete
  • A closed-loop Navigator with collision-aware stuck detection and goal diversion ("go to the table" stops beside the table)

For full Nav2 / SLAM-toolbox navigation, use the ROS 2 runtime instead — this stack is for the no-ROS path and for robots without a ROS stack.

See the OhhO OS overview and the Autonomy product page.

CLI

Navigation commands were not part of the checked PyPI run (ohho nav map did not exit). The commands that did exit are in Install.

--world demo furnishes the simulator with labeled obstacles (chair, table, plant, box, cup). On a real robot, the map builds from the robot's scan.

Python

from ohho import Robot
from ohho.nav import Navigator

bot = Robot.connect("omnibot")
nav = Navigator(bot)

result = nav.navigate_to(2.0, 1.0)      # NavResult(reached, reason, x, y, …)
print(result)                            # reached at (1.98, 1.02), 0.05 m from goal

for line in nav.explore(max_frontiers=4):
    print(line)

print(nav.map_ascii())                   # '#' occupied · '·' free · ' ' unknown

Deterministic testing: every loop accepts step_fn(dt) — pass the sim's step to advance physics synchronously (no threads, no sleeps).

Behavior details

  • Goal inside an obstacle → the navigator diverts to the nearest reachable free cell and reports goal (adjusted).
  • Stuck against something unmapped → after ~1.2 s without progress it either declares arrival (if already beside the target) or bump-marks the blocking cell and replans around it.
  • No scan capability → the planner is optimistic over unknown space (straight-line A*); mapping simply stays empty.
  • Holonomic bases strafe toward waypoints; differential bases rotate-then-drive.

Agent tools

When the agent runs (ohho agent …), navigation is exposed as tools the LLM can call: navigate_to(x, y) and explore() — see Memory for the perception/recall tools that pair with them.

All docs