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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 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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