def __init__(self):
        self.done = False
        self.done_evt = threading.Event()
        self.isExploring = False
        self.progress = 0.0
        self.x = 0.0
        self.y = 0.0
        self.z = 0.0
        self.currentPoseX = 0 
        self.currentPoseY = 0
        self.currentPoseZ = 0
        self.navigating = False