本页内容

运行环境准备

• 软件平台

  • Visual Studio 2010  SP1
  • Slamware Windows SDK:Slamware Windows SDK
  • RoboStudio(用于显示地图):Robostudio installer

  • Sample Code: 

    Info
    使用更高版本的Visual Studio可能会带来编译异常。 使用Visual Studio 2010（无SP1）可能会因为无法与.Net Framework兼容而报编译错误，此时增加SP1更新包即可解决问题

• 硬件平台

          （以下任选其一）

• • • Slamware SDP mini Slamware SDP
    • Slamware 套装 （基于Slamware导航方案的用户机器人系统）
    • ZeusApollo/Ares/Apollo等底盘系统Athena等底盘系统

例程下载

Win32-例程下载

编译运行

1. 打开samples工程，右键move右键robot_to_spot， health， 将此工程设置成StartUp project
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2. 右键move右键robot_to_spothealth, 打开属性选项，将Slamware SDK 的include目录和lib目录添加到工程

   Info
   Slamware SDK的include和lib目录无需复制到参考例程目录，只需在Visual Studio里指定路径即可。

   
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3. 右键move_to_spot右键robot_health, 在Debugging页面中command Arguments处输入 192.168.11.1 
   格式说明： move_to_spot <IP robot_health <IP address> 
   
   
   
4. 点击F5运行按下机器人急停按钮（以急停为例），点击F5运行
5. 查看robostudio的显示可以连上Robostudio查看地图及机器人的运动
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   name	bandicam 2018-01-30 15-29-41-992.mp4

6. console输出
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代码描述

• 输出机器人的异常状态，并清除

代码描述

• 机器人导航运动到目标点(2, 0) ，期间遇到障碍物会自主避障，然后从（2，0） 沿虚拟轨道运动到目标点（0, 0）

  Code Block
  language cpp firstline 1 title 导航到目标点 linenumbers true
  SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(argv[1]ip_address, 1445); std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl; std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl; while(true){ rpos::actions::MoveAction action BaseHealthInfo robot_health = sdp.getCurrentActiongetRobotHealth(); if (actionrobot_health.hasError) action.cancel(); //move to location (2, 0), not on virtual track rpos::features::motion_planner::MoveOptions options; options.flag = MoveOptionFlag(MoveOptionFlagMilestone | MoveOptionFlagPrecise); action = sdp.moveTo(rpos::core::Location(2, 0), options); action.waitUntilDone(); if (action.getStatus() == rpos::core::ActionStatusError) std::cout << "Error" << std::endl; if(robot_health.hasFatal) std::cout << "Fatal" << std::endl; if(robot_health.hasWarning) std::cout << "Warning" << std::endl; if(*robot_health.hasLidarDisconnected) std::cout << "LidarDisconnected" << std::endl; if(*robot_health.hasSdpDisconnected) std::cout << "SdpDisconnected" << std::endl; if(*robot_health.hasSystemEmergencyStop) std::cout << "SystemEmergencyStop" << std::endl; for (auto it = robot_health.errors.begin();it != robot_health.errors.end(); ++ it) { std::cout << "Message: " << it->message << std::endl; std::cout << "Level: " << it->level << std::endl; std::cout << "ErrorType: "<< it->componentErrorType <<std::endl; std::cout << "Action FailedErrorCode: " << action.getReason()it->errorCode << std::endl; } //draw a virtual track from (0, 0) to (2, 0), then move to (0, 0) via virtual track rpos::core::Line line(rpos::core::Point(0,0),rpos::core::Point(2,0)); sdp.addLine(ArtifactUsageVirtualTrack, line); options.flag = MoveOptionFlag(MoveOptionFlagKeyPoints | MoveOptionFlagPrecise); action = sdp.moveTo(rpos::core::Location(0, 0), options); action.waitUntilDone(); if (action.getStatus() == rpos::core::ActionStatusError) int errors_size = robot_health.errors.size(); if(errors_size > 0){ std::cout << "Press 'y' to clear errors, press any other key to continue..." << std::endl; char is_error_clear; std::cin >> is_error_clear; if(is_error_clear == 'y' || is_error_clear == 'Y') { for (auto it = robot_health.errors.begin();it != robot_health.errors.end(); ++ it) { sdp.clearRobotHealth(it->errorCode); std::cout << "Action FailedError: " << action.getReason()it->message << " cleared!" << std::endl; } } } }