本页介绍了move_to_spot的用法, 包含导航模式下和轨道模式下的运动到目标点的过程。
本页内容
Sample Code: 可以命令行运行，也可以下载常用的集成开发环境 (IDE) 和 编辑器来运行，例如PyCharm或者Visual Studio Code (VS Code）等
（以下任选其一）
如下说明使用的是以PyCharm作为demo
#!/usr/bin/python
# -*- coding:utf-8 -*-
import requests
import json
import sys
import time
def send_post_request(url, headers, json_data):
try:
response = requests.post(url, headers=headers, json=json_data, timeout=30)
response.raise_for_status()
return response
except requests.exceptions.RequestException as e:
print(f"POST 请求失败: {e}")
sys.exit(1)
def send_get_request(url, headers):
try:
response = requests.get(url, headers=headers, timeout=30)
response.raise_for_status()
return response
except requests.exceptions.RequestException as e:
print(f"GET 请求失败: {e}")
return None
def main(ip):
headers = {'Content-Type': 'application/json'}
url1 = f"http://{ip}:1448/api/core/motion/v1/actions"
url2 = f"http://{ip}:1448/api/core/motion/v1/actions/{{action_id}}"
url3 = f"http://{ip}:1448/api/core/artifact/v1/lines/tracks"
action_options1 = {
"action_name": "slamtec.agent.actions.MoveToAction",
"options": {
"target": {
"x": 0.42,
"y": 0.81,
"z": 0
},
"move_options": {
"mode": 0,
"flags": [],
"yaw": 0,
"acceptable_precision": 0,
"fail_retry_count": 0
}
}
}
action_options2 = {
"action_name": "slamtec.agent.actions.MoveToAction",
"options": {
"target": {
"x": 0.37,
"y": 2.1,
"z": 0
},
"move_options": {
"mode": 1,
"flags": [],
"yaw": 0,
"acceptable_precision": 0,
"fail_retry_count": 0
}
}
}
data = [
{
"id": 101,
"start": {
"x": 0.4,
"y": 0.8
},
"end": {
"x": 0.37,
"y": 2.1
}
}
]
# 发送移动指令
print("机器人开始移动到点")
rq1 = send_post_request(url1, headers, action_options1)
print(f"接口调用成功: {rq1.text}\n")
# 获取 action_id
actionid1 = json.loads(rq1.text).get("action_id")
if not actionid1:
print("无法获取 action_id")
sys.exit(1)
print(f"action_id 为: {actionid1}")
# 等待任务结束
print("************等待到点任务1结束************")
action_url = url2.format(action_id=actionid1)
while True:
rq2 = send_get_request(action_url, headers)
if rq2 is None:
continue
print(f"查询 action 状态为: {rq2.text}")
if not json.loads(rq2.text).get("action_name"):
print("任务1结束")
break
time.sleep(2)
# 添加虚拟轨道
rq3 = send_post_request(url3, headers, data)
print(f"接口调用成功,: {rq3.text}\n")
# 严格轨道到点
rq4 = send_post_request(url1, headers, action_options2)
actionid2 = json.loads(rq4.text).get("action_id")
if not actionid2:
print("无法获取 action_id")
sys.exit(1)
print(f"action_id 为: {actionid2}")
print("************等待到点任务2结束************")
action_url = url2.format(action_id=actionid2)
while True:
rq5 = send_get_request(action_url, headers)
if rq5 is None:
continue
print(f"查询 action 状态为: {rq5.text}")
if not json.loads(rq5.text).get("action_name"):
print("任务2结束")
break
time.sleep(2)
if __name__ == "__main__":
if len(sys.argv) < 2:
print("请提供IP地址")
sys.exit(1)
main(sys.argv[1])
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