载荷控制

载荷设备（自动门等）的控制功能。

自动门控制

door_control(door_id, cmd, door_timeout=10, retry_times=1, block=True, timeout=300)

Control the payload automatic door.

Parameters:

• door_id (int) – Target door identifier.

• cmd (int) – Command. 0=Close, 1=Open, 2=Query.

• door_timeout (int) – Door action timeout in seconds (default: 10).

• retry_times (int) – Retry times on failure (default: 1).

• block (bool) – Whether to block until completion (default: true).

• timeout (int) – Timeout in seconds, only effective when block=false (default: 300).

Return type:

DoorControlResult

Returns:

DoorControlResult with .result (bool, true=success).

Examples:

result = door_control(door_id=1, cmd=1)  # open door 1
print(f"DoorControl result: {result.result}")

底层 ROS2 接口

• 类型: Action rms_msgs/action/DoorControl

• 名称: /door/cmd

• 说明: 通过 ROS2 Action 调用，feedback（uint8 status）通过 /sdk/payload/door_control_feedback topic 发布

• 参数映射:

封装参数	原生字段（Goal）
door_id	door_id
cmd	``cmd``（0=关，1=开，2=查询）
door_timeout	``timeout``（门动作超时，秒）
retry_times	retry_times
block	客户端是否阻塞等待（不下发）
timeout	客户端等待时长，不下发

报警灯控制

alarm_led_control(type, mode, block=True, timeout=30)

Control the payload alarm LED (strobe light).

Parameters:

• type (int) – LED type. 1 = led_strobe (strobe alarm light).

• mode (int) – Mode. 0 = off; 1 = always on; 2~16 = other flashing modes.

• block (bool) – Whether to block until completion (default: true).

• timeout (int) – Timeout in seconds, only effective when block=false (default: 30).

Return type:

AlarmLedControl_Response

Returns:

AlarmLedControl_Response with .success (bool) and .message (str).

Examples:

response = alarm_led_control(type=1, mode=1)  # strobe light, always on
print(f"AlarmLedControl: {response.success}")

底层 ROS2 接口

• 类型: Service rms_msgs/srv/LedControl

• 名称: /led_ctrl/control

• 说明: ``type``=1 表示爆闪灯；``mode``=0 关闭，1 常亮，2~16 其他闪烁模式

• 参数映射:

封装参数	原生字段（Request）
type	``type``（1=爆闪灯）
mode	``mode``（0=关闭，1=常亮，2~16=闪烁）
block	客户端是否阻塞等待（不下发）
timeout	客户端等待时长，不下发