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(3) SDK 2.0 requires a firmware version of the chassis,The specific version requirements are as follows:
Firmware | Athena1.0&APOLLO | Athena2.0 | Hermes |
|---|---|---|---|
| Latest Version |
If you have questions about your robot's firmware version, please contact FAE for remote upgrade support.Thank you.
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Mainly contains system resources for robots.
2.3.1.1 Acquisition of robotics capabilities
GET /api/core/system/v1/capabilities
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(2) Currently the chassis only supports agent.core, agent.platform, agent.multi_floor
2.3.1.2 Get battery level and charging status
GET /api/core/system/v1/power/status
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Returns all current event information as an array
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 Get POI information
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 Find the nearest POI
POST /api/multi-floor/map/v1/pois/:search_nearby
Find the nearest 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 Sync Map
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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b. Multi-target point movement：SeriesMoveToAction
c. Back to Charge Station : MultiFloorBackHomeAction
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Back to the charge station behavior is special
4 4. Return value after creation of action
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