https://github.com/bluerobotics/navigator-lib
Library to unleash the hardware capabilities, packed with features and fuel for your coding adventures
https://github.com/bluerobotics/navigator-lib
Last synced: 3 months ago
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Library to unleash the hardware capabilities, packed with features and fuel for your coding adventures
- Host: GitHub
- URL: https://github.com/bluerobotics/navigator-lib
- Owner: bluerobotics
- License: mit
- Created: 2023-04-17T16:22:55.000Z (about 3 years ago)
- Default Branch: master
- Last Pushed: 2025-10-20T20:31:04.000Z (8 months ago)
- Last Synced: 2026-01-03T21:19:45.669Z (5 months ago)
- Language: Rust
- Homepage: https://docs.bluerobotics.com/navigator-lib/python/
- Size: 65.4 MB
- Stars: 21
- Watchers: 4
- Forks: 7
- Open Issues: 11
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Navigator Library
[](https://github.com/bluerobotics/navigator-lib/actions/workflows/action.yml)
[](https://pypi.org/project/bluerobotics-navigator/)
This library serves as the entry point for applications that want to use [Navigator](https://bluerobotics.com/store/comm-control-power/control/navigator/) with Python or C++.
> 1 . How-to setup the Raspberry Pi computer, please read [Instructions](#ocean-instructions-for-blueoshttpsdiscussblueroboticscomtblueos-official-release12024-recommended).
2 . For **Rust** 🦀, please check the [navigator-rs library](https://github.com/bluerobotics/navigator-rs).
## Features
- **LEDs (User and RGB) access**
- **PWM (Pulse Width Modulation) control**
- **ADC (Analog Digital Converter) reading**
- **Magnetometer / Accelerometer / Gyroscope sampling**
- **Temperature reading**
- **Pressure estimation**
# 📖 Documentation:
* [Python](https://docs.bluerobotics.com/navigator-lib/python)
* [C++ (WIP)](https://gist.github.com/patrickelectric/133bc706a7397479bfae6f57665bddeb)
Check the examples folder for further [information and guide](https://github.com/bluerobotics/navigator-lib/tree/master/examples).
## 🐍 Python:
Install the library.
```shell
pip install bluerobotics_navigator
```
With that, you'll bee able to run the examples, or creating your own:
```python
#!/usr/bin/env python
import bluerobotics_navigator as navigator
print("Initializing navigator module.")
navigator.init()
print("Setting led on!")
navigator.set_led(navigator.UserLed.Led1, True)
print(f"Temperature: {navigator.read_temp()}")
print(f"Pressure: {navigator.read_pressure()}")
print(
f"Data ADC Channels: {navigator.read_adc_all().channel}"
)
print(f"Data ADC Channel: 1 = {navigator.read_adc(navigator.AdcChannel.Ch1)}")
data = navigator.read_mag()
print(f"Magnetic field: X = {data.x}, Y = {data.y}, Z = {data.z}")
```
## 🛠️ C++:
Follow our example folder as a template to create your own project. To compile and run the examples, you can run:
```shell
cd examples/cpp
cmake -B build -DCMAKE_BUILD_TYPE=Debug && cmake --build build --config Debug --parallel
# Run one of the examples
./build/simple
./build/rainbow
```
For an example of C++ code, you can check the following code:
```cpp
#include "bindings.h"
#include
#include
#include
#include
int main() {
printf("Initiating navigator module.\n");
init();
printf("Setting led on!\n");
set_led(UserLed::Led1, true);
printf("Temperature: %f\n", read_temp());
printf("Pressure: %f\n", read_pressure());
ADCData adc = read_adc_all();
printf("Reading ADC Channels: 1 = %f, 2 = %f, 3 = %f, 4 = %f\n",
adc.channel[0], adc.channel[1], adc.channel[2], adc.channel[3]);
printf("Data ADC Channels: 1 = %f\n", read_adc(AdcChannel::Ch1));
AxisData mag = read_mag();
printf("Magnetic field: X = %f, Y = %f, Z = %f\n", mag.x, mag.y, mag.z);
return 0;
}
```
> Note: The CMakeLists_Standalone.txt is a self-contained CMake project file example. Users can use it as a template to create their standalone projects based on the navigator-lib.
## 🏗️ Supported Architectures
Currently, the library supports **armv7** and **aarch64** architectures, which are the official defaults for [BlueOS](https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/). The library also provides C++ `.so` files for both `gnu` and `musl`.
For more detailed information, including installation instructions, schematics, and hardware specifications, please refer to the [navigator hardware setup guide](https://bluerobotics.com/learn/navigator-hardware-setup/#introduction).
## :ocean: Instructions for [BlueOS](https://discuss.bluerobotics.com/t/blueos-official-release/12024) (Recommended)
1. Open the [Autopilot Firmware](https://blueos.cloud/docs/blueos/latest/advanced-usage/#autopilot-firmware) page, enable [Pirate Mode](https://blueos.cloud/docs/blueos/latest/advanced-usage/#pirate-mode), and "change board" to SITL
- This stops the autopilot firmware from trying to operate while the WebAssistant is in use
1. [Reboot](https://blueos.cloud/docs/blueos/latest/advanced-usage/#power) the vehicle computer, and wait for the interface to re-connect
> Note: Since this library access the Navigator hardware, it **can´t** run in parallel with ArduPilot.
If you are running ArduPilot, be sure to disable it or set the board as **SITL** (Software Simulation) before running Navigator WebAssistant
## :cherries: Instructions for [Raspberry Pi OS](https://www.raspberrypi.com/software/)
1. Download the Raspberry OS image (32 or 64 bits)
> Note: To use a kernel that matches with the BlueOS and avoid incompatilities, please use:
**32** Bits: [raspios_lite_armhf-2023-02-22](https://downloads.raspberrypi.com/raspios_lite_armhf/images/raspios_lite_armhf-2023-02-22/)
**64** Bits: [raspios_lite_arm64-2023-02-22](https://downloads.raspberrypi.com/raspios_lite_arm64/images/raspios_lite_arm64-2023-02-22/)
2. Install the [Raspberry Pi Imager](https://www.raspberrypi.com/software/) and flash the image
> Note: You can also automatically setup the ssh, user, hostname and wi-fi settings.
3. Execute the following command to setup the overlay required for Navigator ( I2C, SPI, GPIOs & others)
```shell
sudo su -c 'curl -fsSL https://raw.githubusercontent.com/bluerobotics/blueos-docker/master/install/boards/configure_board.sh | bash'
sudo reboot
```