Task Dispatch Interface

Communication Address

Communication address: 192.168.1.106:30000

Dispatch Navigation Task

After receiving a navigation task request, the robot will first execute the navigation task (success/failure/cancel), then return a response message with the execution result. When using this protocol to dispatch navigation tasks, the robot will automatically switch to navigation mode without manual operation.

C++ SDK and examples: DeepRoboticsLab/robotserver_sdk

Request

<?xml version="1.0" encoding="UTF-8"?>
<PatrolDevice>
  <Type>1003</Type>
  <Command>1</Command>
  <Time>2023-01-01 00:00:00</Time>
  <Items>
    <Value>100</Value><MapID>1</MapID>
    <PosX>0.0</PosX><PosY>0.0</PosY><PosZ>0.0</PosZ>
    <AngleYaw>0.0</AngleYaw>
    <PointInfo>0</PointInfo><Gait>0</Gait><Speed>0</Speed>
    <Manner>0</Manner><ObsMode>0</ObsMode><NavMode>0</NavMode>
    <Terrain>0</Terrain><Posture>0</Posture>
  </Items>
</PatrolDevice>

Parameter Description

Parameters are divided into two categories: point attribute parameters and path attribute parameters:

Point attribute parameters (defining the goal point itself):

Parameter	Meaning	Type	Unit	Description
Value	Goal point ID	int	/
MapID	Grid map ID of the goal point	int	/
PosX/PosY/PosZ	Goal point position coordinates	float	m
AngleYaw	Goal point orientation	float	rad
PointInfo	Goal point type	int	/	Transition point=0, Task point=1, Standing point=2, Charging point=3

Path attribute parameters (defining how to reach the goal point from the current position):

Parameter	Meaning	Type	Description
Gait	Gait to use	int	Walking=0, Obstacle-clearing=1, Slope=2, Stair=4, Accumulated frame stair=6, 45° stair=7, L-walking=100, Mountain=101, L-stair=102
Speed	Speed to use	int	Normal=0, Low=1, High=2
Manner	Motion direction	int	Forward=0, Backward=1
ObsMode	Stop-avoidance function	int	Enabled=0, Disabled=1
NavMode	Navigation mode	int	Straight-line navigation=0, Autonomous navigation=1
Terrain	Height map mode	int	Solid ground=0, Hollow ground=1, Stairs without risers=2, Accumulated frame=3
Posture	Body height	int	Normal=0, Crawl=1

Response

<?xml version="1.0" encoding="UTF-8"?>
<PatrolDevice>
  <Type>1003</Type>
  <Command>1</Command>
  <Time>2023-01-01 00:01:00</Time>
  <Items>
    <Result>1</Result>
  </Items>
</PatrolDevice>

Result Value	Meaning
1	Navigation task executed successfully
2	Navigation task execution failed
3	Navigation task cancelled

Cancel Navigation Task

Type Field Value	Message Type
1004	Cancel navigation task

Request

<?xml version="1.0" encoding="UTF-8"?>
<PatrolDevice>
  <Type>1004</Type>
  <Command>1</Command>
  <Time>2023-01-01 00:00:00</Time>
  <Items/>
</PatrolDevice>

Query Navigation Task Execution Status

Type Field Value	Message Type
1007	Query navigation task execution status

Request

<?xml version="1.0" encoding="UTF-8"?>
<PatrolDevice>
  <Type>1007</Type>
  <Command>1</Command>
  <Time>2023-01-01 00:00:00</Time>
  <Items/>
</PatrolDevice>

Response

<?xml version="1.0" encoding="UTF-8"?>
<PatrolDevice>
  <Type>1007</Type>
  <Command>1</Command>
  <Time>2023-01-01 00:00:01</Time>
  <Items>
    <NavTaskState>0</NavTaskState>
  </Items>
</PatrolDevice>

NavTaskState Value	Meaning
0	No navigation task
1	Navigation task in progress

TCP Perception Status Information

Get perception status information from the navigation host (192.168.1.106:30000) via the TCP body monitoring protocol.

Type Field Value	Message Type
2002	Perception status information

Response

Parameter	Meaning	Value Description
ObsState	Whether there are obstacles on the planned path within 2 meters of the robot	No obstacle=0, Obstacle present=1