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Excerpt

本页介绍了move_to_spot的用法, 包含导航模式下和轨道模式下的运动到目标点的过程。


本页内容

Table of Contents

运行环境准备

  • 软件平台

    • Visual Studio 2010  SP1
    • Slamware Windows SDK:Slamware Windows SDK
    • RoboStudio(用于显示地图):Robostudio installer

    • Sample Code: 

      Info

      使用更高版本的Visual Studio可能会带来编译异常。

      使用Visual Studio 2010（无SP1）可能会因为无法与.Net Framework兼容而报编译错误，此时增加SP1更新包即可解决问题


  • 硬件平台

          （以下任选其一）

      • Slamware SDP mini 
      • Slamware SDP
      • Slamware 套装 （基于Slamware导航方案的用户机器人系统）
      • Zeus/Apollo等底盘系统

例程下载

Win32-例程下载

编译运行

  1. 打开samples工程，右键move_to_spot， 将此工程设置成StartUp project

  2. 右键move_to_spot, 打开属性选项，将Slamware SDK 的include目录和lib目录添加到工程

    Info

    Slamware SDK的include和lib目录无需复制到参考例程目录，只需在Visual Studio里指定路径即可。


  3. 右键move_to_spot, 在Debugging页面中command Arguments处输入 192.168.11.1 
    格式说明： move_to_spot <IP address> 


  4. 点击F5运行
  5. 可以连上Robostudio查看地图及机器人的运动
    Multimedia
    namebandicam 2018-01-30 15-29-41-992.mp4

代码描述

  • 机器人导航运动到目标点(2, 0) ，期间遇到障碍物会自主避障，然后从（2，0） 沿虚拟轨道运动到目标点（0, 0）

    Code Block
    languagecpp
    firstline1
    title导航到目标点
    linenumberstrue
            SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(argv[1], 1445);
		SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(ip_address, 1445);
		std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl;
		std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl;

		while(true){
        			BaseHealthInfo robot_health = sdp.getRobotHealth();
			if(robot_health.hasError)
				std::cout << "Error" << std::endl;
			if(robot_health.hasFatal)
				std::cout << "Fatal" << std::endl;
			if(robot_health.hasWarning)
				std::cout << "Warning" << std::endl;
			if(*robot_health.hasLidarDisconnected)
				std::cout << "LidarDisconnected" << std::endl;
			if(*robot_health.hasSdpDisconnected)
				std::cout << "SdpDisconnected" << std::endl;
			if(*robot_health.hasSystemEmergencyStop)
				std::cout << "SystemEmergencyStop" << std::endl;
			for (auto it = robot_health.errors.begin();it != robot_health.errors.end(); ++ it) {
				std::cout << "Message: " << it->message << std::endl;
				std::cout << "Level: " << it->level << std::endl;
				std::cout << "ErrorType: "<< it->componentErrorType <<std::endl;
				std::cout << "ErrorCode: " << it->errorCode << std::endl;
			}

			int errors_size = robot_health.errors.size();
			if(errors_size > 0){
				std::cout << "Press 'y' to clear errors, press any other key to continue..." << std::endl;
            				char is_error_clear;
				std::cin >> is_error_clear;
				if(is_error_clear == 'y' || is_error_clear == 'Y') {
					for (auto it = robot_health.errors.begin();it != robot_health.errors.end(); ++ it) {
						sdp.clearRobotHealth(it->errorCode);
						std::cout << "Error: " << it->message << " cleared!" << std::endl;
					}			
				}				
			}
		}