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  1. 打开VirtualTrackWithOA工程,检查libs路径下是否有 slamware_sdk_android.jar 文件,以及jinLibs路径下是否有 librpsdk.so 文件,若想尝试其他版本的SDK,请直接将这两个文件替换。



  2. 到 Project Structure --> app --> Dependencies 检查Slamware SDK是否添加到工程中。


  3. 将以下代码段的"10.0.130.71"修改为底盘的IP地址,默认情况下为192.168.11.1,当WIFI处于Station模式下请将PC与底盘使用Ethenet连接后查看。方法说明:AbstractSlamwarePlatform connect(String host, int port),其中host为底盘IP,port为网络端口号,返回值为底盘的实例对象。

    Code Block
    languagejava
    themeMidnight
    /* 与底盘连接 */
    AbstractSlamwarePlatform robotPlatform = DeviceManager.connect("10.0.130.71", 1445);


  4. Android设备连接底盘发射出的WIFI或连入底盘的同一网络,按下shift + F10 运行

    Info

    本例程仅仅用作最简单SDK类和方法的演示,故没有设计Android界面


  5. 虚拟轨道和机器人的运动状态可以在Robostudio上查看
    View filemultimedia
    nameVirtualTrackWithOA.mp4
    height250



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代码描述

  • 画一条机器人当前位置x轴方向正向的,长6米的轨道,然后沿轨道走到目标点

    Code Block
    languagejava
    themeMidnight
    title导航到目标点
    linenumberstrue
    /* 与底盘连接 */
    final AbstractSlamwarePlatform robotPlatform = DeviceManager.connect("10.0.130.71", 1445);
    
    try {
    
        //draw a 6 meter virtual track
        Pose pose = robotPlatform.getPose();
        Line line = new Line(new PointF(pose.getX(), pose.getY()), new PointF(pose.getX()+6, pose.getY()));
        robotPlatform.addLine(ArtifactUsageVirtualTrack, line);
    
        IMoveAction action = robotPlatform.getCurrentAction();
        if (action != null)
            action.cancel();
    
        MoveOption moveOption = new MoveOption();
        moveOption.setTrackWithOA(true);
    
        action = robotPlatform.moveTo(new Location(7, 0, 0), moveOption, 0);
    
        action.waitUntilDone();
        if (action.getStatus() == ERROR)
            Log.d(TAG, "Action Failed");
    
    } catch (ConnectionTimeOutException e) {
    	/* Exception Handle code*/
    	....	   
    }