Send an initialization localization request to the navigation host (192.168.1.106:30000) via the TCP body monitoring protocol.
| Type Field Value | Message Type |
|---|
| 2101 | Initialize localization |
| Parameter | Description | Data Type | Unit |
|---|
| PosX/PosY/PosZ | Robot coordinates for re-localization in the map coordinate system | float | m |
| Yaw | Robot rotation angle around Z-axis in the map coordinate system | float | rad |
| Parameter | Description | Value Description |
|---|
| ErrorCode | Result of the initialization command | Localization normal=0, Localization abnormal=1 |
Robot’s current pose information can be obtained through the real-time basic status query (Type=1002):
| Parameter | Description | Unit |
|---|
| PosX/PosY/PosZ | Robot coordinates in the map coordinate system | m |
| Roll/Pitch/Yaw | Robot attitude angles in the map coordinate system | rad |
| Location | Localization status (normal=0, lost=1) | / |