Excerpt |
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Slamware Console是配套Slamware解决方案使用的一个命令行开发工具。这个工具的主要用途是调试您底盘的Control Bus协议实现是否正确。同时也可以用来诊断您的底盘上的各个传感器的状态,以及里程计和轮子的数据。请在windows 中使用命令提示符打开slamware_console.(该工具只可搭配breakout3.0使用) |
本页内容
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用法简介
接线
由于CTRL BUS协议是通过串口与外界进行通讯的,在使用console工具时,需要将PC与breakout上J14上如图所示串口相接(J14靠近R23端两针脚)。
对于使用SDP mini的用户,建议将上层电机驱动板掀开,并移除J14处盖帽后再将串口与PC相连,为了保证编码器数据的正常通讯,可以使用杜邦线将上层板与下层相连,既保证通讯又可以暴露J14出来。
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如果在启动console过程中发现连接失败的情况。 1.请尝试调换两根串口线的位置。 2.检查串口线的GND是否有接(可以接到breakout上任意GND端)。 |
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格式
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slamware_console base [options] <command> [cmd_arguments] |
可用选项
选项名称 | 简写 | 描述 | 备注 |
--channel | -c channel | The communication channel with the base, supported channels: serial, tcp |
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--help | -h help | Show this message |
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--port | -p port | Trace communication between host and base |
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--trace-comm | -t trace comm | Trace communication between host and base |
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--version | -v print version number | Print version number |
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--host | host | The host used to communicate with the base (required for tcp channel) |
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命令概览
命令名称 | 描述 | 备注 |
beacon | Read auto home IR beacon data |
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bumper | Read bumper, cliff sensor data |
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config | Read configuration from base |
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event | Send Event Cmd |
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monitor | Continiously read sensor data and output to the console |
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motor | Read motor information, such as wheels' odometry |
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poll | Poll Base Cmd |
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run | Make motor run |
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sensor | Read distance sensors' data, such as ultrasonic data |
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status | Read base status, such as battery, charging status and etc. |
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test | Test base control bus protocol |
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vrun | Vector run. vrun <vx> <vy> <omega> <time>. Units: m/s m/s rad/s s |
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命令用法及代码示例
Info |
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如下所有代码示例使用的接口假设为COM3 |
BEACON
读取自动返回充电时红外灯塔数据。
代码示例
Code Block | ||||||
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 beacon
[rp.slamware.test.SlamwareConsoleApplication][INFO] Slamware Console 1.7.0
[rp.slamware.utils.ChannelFactory] [INFO]Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Firmware Version: 1.83
[rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Serial Number: C47DDDC6F19575BD90AB43C0
[rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Found 3 beacons and 3 probes
[rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Probe #0: 0: 1: 2:
[rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Probe #1: 0: 1: 2:
[rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Probe #2: 0: 1: 2:
[rp.slamware.test.SlamwareConsoleApplication][INFO] Successfully executed command |
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BUMPER
读取碰撞传感器数据。
代码示例
Code Block | |||||
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 bumper
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Bumper/Cliff Values:
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] [ ] #0 X:12.7 cm Y:10.5 mm Z: |
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5.0 mm Yaw:40.0deg
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] [ ] #2 X:16.5 cm Y:0.0 mm Z: |
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5.0 mm Yaw:0.0deg
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Successfully executed command |
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CONFIG
读取底盘配置参数。
代码示例
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 config
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Parsed JSON:
{
"base" : {
"hardware_version" : 1,
"high_battery_percentage_for_charging" : 0.6999999880790710,
"low_battery_auto_homing" : true,
"low_battery_percentage_for_charging" : 0.3000000119209290,
"manufacture_id" : 255,
"manufacture_name" : "Slamtec",
"model_id" : 4096,
"model_name" : "Slamware SDP",
"robot_size" : 0.3300000131130219,
"sensors" : [
{
"id" : 0,
"installation_pose" : {
"x" : 0.1270000040531158,
"y" : 0.1049999967217445,
"yaw" : 0.6981316804885864,
"z" : |
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0.05000000074505806
},
"type" : "bumper"
},
{
"id" : 1,
"installation_pose" : {
"x" : 0.1199999973177910,
"y" : 0.1000000014901161,
"yaw" : 0.6981316804885864,
"z" : 0.05000000074505806
},
"type" : "sonar"
},
]
},
"features" : {
"has_ir_docking_tower" : false
},
"lidar" : {
"installation_pose" : {
"x" : 0.1099999994039536,
"yaw" : 3.141592741012573
}
},
"motion_plan" : {
"bump_handle_strategy" : "default",
"side_margin" : 0.1000000014901161
}
}
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Base Info
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Manufacture: Slamtec (00FF)
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: Slamware SDP (1000)
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware Version: 1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Robot Diameter: 33.0 cm
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Lidar
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Installation Pose: 11.0 cm, 0.0 cm, 180.0 deg
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Sensors: 6 sensors
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Sensor #0: Bumper at (12.7 cm, 10.5 cm, 40.0 deg)
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Sensor #1: Sonar at (12.0 cm, 10.0 cm, 40.0 deg)
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Motion Planning
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Side Margin: 10.0 cm
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Bumper Policy: default
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Features
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Has IR Tower: No
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Successfully executed command |
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EVENT
发送event代码至底盘。
代码示例
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 event 97
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Successfully executed command |
Note | ||
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event参数需为十进制格式,上述代码示例中event 97即为0X61的十进制格式。 |
当前支持的事件代码如下:
系统事件代码 | 十进制格式 | 命令名称 | 描述 |
0x61 | 97 | LIDAR_CONN_FAIL | LIDAR连接失败 |
0x62 | 98 | LIDAR_RAMPUP_FAIL | LIDAR启动失败 |
0x63 | 99 | SYSTEM_UP_OK | 系统启动成功 |
0x64 | 100 | FIRMWARE_UPDATE | 系统固件升级 |
0x65 | 101 | CORE_DISCONNECT | 系统断开连接 |
0x66 | 102 | FIRMWARE_UPDATE_OK | 固件升级成功 |
0x80 | 128 | START_SWEEP | 通知外部系统清扫开始(仅针对扫地机版本) |
0x81 | 129 | END_SWEEP | 通知外部系统清扫结束(仅针对扫地机版本) |
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MONITOR
连续读取sensor数据并在终端显示。
1. 读取motor数据
代码示例
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 monitor motor
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Left Wheel: 0.0 mm Right Wheel: 0.0 mm
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Left Wheel: 0.0 mm Right Wheel: 0.0 mm |
2. 读取bumper/cliff数据
代码示例
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 monitor bumper
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Bumper/Cliff Values:
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] [ ] #0 X:12.7 cm Y:10.5 mm Z: |
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5.0 mm Yaw:40.0deg
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] [ ] #1 X:12.7 cm Y:-10.5mm Z: |
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5.0 mm Yaw:320.0deg
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] [ ] #2 X:16.5 cm Y:0.0 mm Z: |
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5.0 mm Yaw:0.0deg |
3. 读取sonar数据
代码示例
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 monitor sensor
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Sensor Values:
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] 3 : 127.0mm
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] 4 : 0.0 mm |
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MOTOR
读取里程计数据。
代码示例
Code Block | |||||
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 motor
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Left Wheel: 0.0 mm Right Wheel: 0.0 mm
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Successfully executed command |
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POLL
查询外部系统命令。
代码示例
Code Block | |||||
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 poll
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 2.0.0_dev
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:..\.\COM4...
[rp.slamware.utils.ChannelFactory] [DBUG] Channel established
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:..\.\COM4
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: zeus base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 1.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 2.2
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47EDDC6F19575BD90AB41E9
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Base cmd pending: ff
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Successfully executed command |
当前支持的外部系统命令如下:
外部系统命令代码 | 命令名称 | 描述 |
0x51 | GET_INFO | 获取SLAMWARE CORE系统信息,包含软硬件版本,网络配置 |
0x52 | RESET_WIFI | 重置SLAMWARE CORE无线网络 |
0x53 | FW_UPGRADING | 更新SLAMWARE CORE固件 |
0x80 | START_SWEEP | 开始清扫(仅针对扫地机版本) |
0x81 | STOP_SWEEP | 结束清扫(仅针对扫地机版本) |
0x82 | SPOT_SWEEP | 定点清扫(仅针对扫地机版本) |
0x90 | GET_HEALTH | 获取健康状况 |
0xA0 | MOVE_FORWARD | 向前 |
0xA1 | MOVE_BACKWARD | 向 后 |
0xA2 | TURN_LEFT | 向左 |
0xA3 | TURN_RIGHT | 向右 |
0xAF | CANCEL_ACTION | 取消上一步操作 |
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RUN
Anchor | ||||
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控制电机运动。
参数:
参数名称 | 单位 | 备注 |
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左轮速度 | mm/s | |
右轮速度 | mm/s | |
运行时间 | s |
Note | ||
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此命令仅限于两轮差动电机。 |
测试电机是否正常运行,请参考如下步骤:
1.run 50 50 5
将速度设置为50时,电机能正常响应;
2.run 100 100 5
将速度设置为100时,电机能平稳行驶;
3. 测试里程计是否准确
run 300 300 5
返回值为pose(x方向位移,Y方向位移,偏移角度),单位是分别为mm, mm, degree。
注:X方向正向为机器人前进方向;Y方向正向为机器人左侧;角度为以X方向为0,逆时针方向的偏移角度。
比较从初始位置pose(0,0,0)到终止位置之间的反馈值与实际测量值之间的误差。
例如如下代码中,终止位置为pose(1302.15056, 190.48846, 6.8deg)Code Block firstline 0 linenumbers true [rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] dl= 5.00000 dr=5.00000 pose:(1297.28958, 189.31762, 6.8deg) ->(1302.15056, 190.48846, 6.8deg)
run 300 0 5
仅左轮转动(即机器人顺时针旋转得到的夹角),并测试差值。
run 0 300 5
仅右轮转动(即机器人逆时针旋转夹角),并测试差值。
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误差不可超过5%,否则机器人导航误差较大且行为异常。 |
代码示例
Code Block | ||||||
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 run 100 100 5
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] dl= 0.00000 dr=40.00000 pose:( 0.00000, 0.00000, 0.0deg)->(20.00000, 0.00000, 6.9deg)
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] dl= 0.00000 dr=40.00000 pose:(20.00000, 0.00000, 6.9deg)->(39.41518, 4.80113, 13.9deg) |
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SENSOR
读取聚力传感器(如超声波传感器)数据。
代码示例
Code Block | ||||||
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 sensor
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Sensor Values:
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] 3 : 125.0mm
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] 4 : 0.0 mm
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] 5 : 878.0mm
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Successfully executed command |
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STATUS
读取底盘信息状态。
代码示例
Code Block | ||||||
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 status
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Battery: 67%
[rp.slamware.test.SlamwareBaseConsoleApplication] [WARN] Charging Status: Charging (you are using legacy protocol, please specify DcConnected or OnChargingBase bit field
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Successfully executed command |
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...
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 test
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test] [INFO] Test Fixture: ControlBus
[rp.slamware.test] [INFO] Testing connect...
[rp.slamware.test] [INFO] pass
[rp.slamware.test] [INFO] Testing getConfig...
[rp.slamware.test] [INFO] pass
[rp.slamware.test] [INFO] Testing getStatus...
[rp.slamware.test] [INFO] pass
[rp.slamware.test] [INFO] Testing getMotorData...
[rp.slamware.test] [INFO] pass
[rp.slamware.test] [INFO] Testing getSensorData...
[rp.slamware.test] [INFO] pass
[rp.slamware.test] [INFO] Testing getBumperData...
[rp.slamware.test] [INFO] pass
[rp.slamware.test] [INFO] Testing getAutoHomeData...
[rp.slamware.test] [ERRO] fail: (int)dev_->getAutoHomeData(req, (uint8_t*)&response, &responseSize)==(int)RESULT_OK: actual -2147450876 != 0
[rp.slamware.test] [INFO] Testing setMotor...
[rp.slamware.test] [INFO] pass
[rp.slamware.test] [INFO] Testing sendEvent...
[rp.slamware.test] [INFO] pass
[rp.slamware.test] [ERRO] ControlBus: 9 total, 0 skipped, 8 pass, 1 failed
[rp.slamware.test.SlamwareConsoleApplication] [ERRO] Execute command failed: 00000001 |
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VRUN
控制电机运动。
参数:
参数名称 | 单位 | 备注 |
---|---|---|
X方向速度 | m/s | |
Y方向速度 | m/s | |
角速度 | rad/s | |
时间 | s |
Note | ||
---|---|---|
| ||
此命令适用于三轮全向轮及两轮差动电机。 |
测试电机是否正常运行,请参考如下步骤:
1.vrun 0.05 0 0 5
将机器人前进速度设置为 0.05 m/s 时,电机能正常响应;
2. vrun 0.1 0 0 5
将机器人前进速度设置为0.1 m/s时,电机能平稳行驶;
3. 测试里程计是否准确
vrun 0.3 0 0 5
返回值为pose(x方向位移,Y方向位移,偏移角度),单位是分别为mm, mm, degree。
注:X方向正向为机器人前进方向;Y方向正向为机器人左侧;角度为以X方向为0,逆时针方向的偏移角度。
比较从初始位置pose(0,0,0)到终止位置之间的反馈值与实际测量值之间的误差。
例如如下代码中,终止位置为pose(1302.15056, 190.48846, 6.8deg)
Code Block | ||||
---|---|---|---|---|
| ||||
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] dl= 5.00000 dr=5.00000 pose:(1297.28958, 189.31762, 6.8deg) ->(1302.15056, 190.48846, 6.8deg) |
vrun 0 0 1 5
...
机器人逆时针旋转夹角,并测试差值。
vrun 0 0 -1 5
机器人顺时针旋转夹角,并测试差值。
Note | ||
---|---|---|
| ||
误差不可超过5%,否则机器人导航误差较大且行为异常。 |
代码示例
Code Block | ||||||
---|---|---|---|---|---|---|
|
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C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 vrun 0.1 0.1 0 5
[rp.slamware.test.SlamwareConsoleApplication] [INFO] Slamware Console 1.9.0_rc1
[rp.slamware.utils.ChannelFactory] [INFO] Connecting to serial:COM3...
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Connected to Control Bus Device at serial:COM3
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Model: ref base
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Firmware Version: 0.90
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Hardware version: 0.1
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] Serial Number: C47BDDC1F79072BD90B041C7
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] dx= 0.00023 dy=201.64026 dtheta=201.7deg pose:( 0.00000, 0.00000, 0.0deg)->( 0.00023, 201.64026, 201.7deg)
[rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] dx= 0.00023 dy=201.64026 dtheta=201.7deg pose:( 0.00023, 201.64026, 201.7deg)->(74.40319, 14.22896, 403.3deg) |
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