slamware_console base [options] <command> [cmd_arguments] |
选项名称 | 简写 | 描述 | 备注 |
--channel | -c channel | The communication channel with the base, supported channels: serial, tcp |
|
--help | -h help | Show this message |
|
--port | -p port | Trace communication between host and base |
|
--trace-comm | -t trace comm | Trace communication between host and base |
|
--version | -v print version number | Print version number |
|
--host | host | The host used to communicate with the base (required for tcp channel) |
|
命令名称 | 描述 | 备注 |
beacon | Read auto home IR beacon data |
|
bumper | Read bumper, cliff sensor data |
|
config | Read configuration from base |
|
event | Send Event Cmd |
|
monitor | Continiously read sensor data and output to the console |
|
motor | Read motor information, such as wheels' odometry |
|
poll | Poll Base Cmd |
|
run | Make motor run |
|
sensor | Read distance sensors' data, such as ultrasonic data |
|
status | Read base status, such as battery, charging status and etc. |
|
test | Test base control bus protocol |
|
vrun | Vector run. vrun <vx> <vy> <omega> <time>. Units: m/s m/s rad/s s |
|
SA001 Slamware Console Application Note
如下所有代码示例使用的接口假设为COM3 |
读取自动返回充电时红外灯塔数据。
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 |
SA001 Slamware Console Application Note
读取碰撞传感器数据。
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:-5.0 mm Yaw:40.0deg [rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] [ ] #2 X:16.5 cm Y:0.0 mm Z:-5.0 mm Yaw:0.0deg [rp.slamware.test.SlamwareConsoleApplication] [INFO] Successfully executed command |
SA001 Slamware Console Application Note
读取底盘配置参数。
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" : -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 |
SA001 Slamware Console Application Note
发送event代码至底盘。
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 |
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) |
SA001 Slamware Console Application Note
连续读取sensor数据并在终端显示。
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 |
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:-5.0 mm Yaw:40.0deg [rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] [ ] #1 X:12.7 cm Y:-10.5mm Z:-5.0 mm Yaw:320.0deg [rp.slamware.test.SlamwareBaseConsoleApplication] [INFO] [ ] #2 X:16.5 cm Y:0.0 mm Z:-5.0 mm Yaw:0.0deg |
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 |
SA001 Slamware Console Application Note
读取里程计数据。
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 |
SA001 Slamware Console Application Note
查询外部系统命令。
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 |
SA001 Slamware Console Application Note
控制电机运动。
参数:
参数名称 | 单位 | 备注 |
---|---|---|
左轮速度 | mm/s | |
右轮速度 | mm/s | |
运行时间 | s |
此命令仅限于两轮差动电机。 |
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)
[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。
误差不可超过5%,否则机器人导航误差较大且行为异常。 |
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) |
SA001 Slamware Console Application Note
读取聚力传感器(如超声波传感器)数据。
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 |
SA001 Slamware Console Application Note
读取底盘信息状态。
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 |
SA001 Slamware Console Application Note
测试底盘设置信息。
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 |
SA001 Slamware Console Application Note
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 |
此命令适用于三轮全向轮及两轮差动电机。 |
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)
[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
仅右轮转动(即机器人逆时针旋转夹角),并测试差值。
误差不可超过5%,否则机器人导航误差较大且行为异常。 |
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) |
SA001 Slamware Console Application Note