This document introduces the demo project of “virtual_track_with_oa”, including a brief introduction to Virtual Track with OA Navigation mode. It can be understood as high-speed priority in road navigation. 1. Between the starting point and the target point, if there is a track, it will take precedence on the track. 2. If there are obstacles on the track, it will go off the track and then go on the track.

Content

IDE Preperation

  • Software

    • Visual Studio 2010  SP1
    • Slamware Windows SDK:Slamware Windows SDK
    • RoboStudio(for map display):Robostudio installer 

    • Sample Code: 


      Higher version of Visual Studio will cause errors. sometime you will need to upgrade SP1 package to make your VS compatable with .Net Framework.


  • Hardware

          （Either one of following）

    • Slamware SDP mini 
    • Slamware SDP
    • Slamware Kit 
    • Zeus/Apollo robot base

Download

Win32-Demo


Compiling

  1. Right click on "virtual_track_with_oa" project, set as StartUp project.


  2. Right click on "virtual_track_with_oa", then " Properties"，configure "include" and "lib" directories to the corresponding folder path of Slamware SDK.

    It's not necessary to copy files to the project directory, user will only need to configure the path of SDK.



  3. Right click on "virtual_track_with_oa", then "properties"，set "Command Arguments" as follows: 
    Syntax ：virtual_track_with_oa <IP address>

  4. Click " F5" to execute.
  5. Robot's motion could be seen in Robostudio.


Code

  • Draw a 6-metre track in the forward direction of the x-axis of the robot's current position, and then move along the track to the target point.

    Virtual Track with OA Navigation
        
		SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(ip_address, 1445);
		std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl;
		std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl;

		//draw a 6 meter virtual track 
		rpos::core::Pose sdp_pos = sdp.getPose();
		rpos::core::Line line(rpos::core::Point(sdp_pos.x(), sdp_pos.y()),rpos::core::Point(sdp_pos.x() + 6, sdp_pos.y()));
		sdp.addLine(ArtifactUsageVirtualTrack, line);

		rpos::actions::MoveAction action = sdp.getCurrentAction();
		if (action)
			action.cancel();	

		rpos::features::motion_planner::MoveOptions options;
		options.flag = MoveOptionFlag(MoveOptionFlagKeyPointsWithOA);
		action = sdp.moveTo(rpos::core::Location(0, 0), options);
		action.waitUntilDone();
		if (action.getStatus() == rpos::core::ActionStatusError)
			std::cout << "Action Failed: " << action.getReason() << std::endl;;



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