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2. Definition of event types
2.3.4 multi-floor
Although it is a plugin for managing multiple floors, it also supports single-floor maps.
2.3.4.1 获取POI信息
GET /api/multi-floor/map/v1/pois
Specify the floor by parameter, and get the POI of all floors without parameter.
Parameters
Floor: string Type, name of floor
building： string Type, building name
return value
2.3.4.2 查找最近的POI
POST /api/multi-floor/map/v1/pois/:search_nearby
Find the closest POI information to the robot
The name has three special values, ON_DOCK means on the charge station, IN_ELEVATOR means inside the elevator, UNKNOWN means no POI, there is no relative_pose field at this time, the other values all indicate the name of the regular POI added in the map.
2.3.4.3 同步地图
POST /api/multi-floor/map/v1/stcm/:sync
Save the current map to a file and reload it [Note] This operation is prohibited in a multi-floor environment, otherwise the maps of other floors will be lost.
2.3.5 motion
action : action is the motion behavior supported by the robot,the use process is as follows：
Check the supported actions firstly
create the action
Query the action status based on the action id returned, which is used to determine the current behavior of the robot.
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