教程

本页面包含各种使用场景的详细教程。

高级导航

自定义导航参数

# 创建导航参数
travel_params = MsgTravelParams()
travel_params.speed_mode = 2  # LOW 低速
travel_params.distance_tolerance = 0.2  # 20cm 精度
travel_params.gait = 3  # CRAWL 爬行步态
travel_params.disable_body_obstacle_avoidance = False  # 启用避障
travel_params.ignore_final_yaw = False  # 匹配目标朝向
travel_params.path_following_mode = 1  # 默认循线
travel_params.direction_constraint = 1  # 无方向限制

# 使用自定义参数导航
response = navigation_to_location(
    location='narrow_passage',
    travel_params=travel_params
)

多点路径导航

def create_waypoint(x, y, yaw=0.0):
    \"\"\"创建路径点\"\"\"
    import math
    pose_stamped = PoseStamped()
    pose_stamped.header.frame_id = "map"

    pose_stamped.pose.position = Point(x=x, y=y, z=0.0)

    # 从 yaw 角度转换为四元数
    qz = math.sin(yaw / 2.0)
    qw = math.cos(yaw / 2.0)
    pose_stamped.pose.orientation = Quaternion(
        x=0.0, y=0.0, z=qz, w=qw
    )

    return pose_stamped

# 创建路径点序列
waypoints = [
    create_waypoint(1.0, 0.0, 0.0),
    create_waypoint(2.0, 1.0, 1.57),  # 90度转弯
    create_waypoint(2.0, 2.0, 1.57),
    create_waypoint(3.0, 2.0, 0.0),
]

# 严格追踪模式 - 经过所有点
response = navigation_via_poses(
    exec_waypoints=waypoints,
    exec_type=2  # STRICTTRACK
)

暂停和恢复导航

import time

# 开始导航（非阻塞）
response = navigation_to_location('point_A', block=False)

# 等待一段时间
time.sleep(5)

# 暂停导航
print("暂停导航...")
pause_navigation()

# 执行其他任务
time.sleep(3)

# 恢复导航
print("恢复导航...")
resume_navigation()

地图管理

切换地图

# 查看可用地图
response = get_available_maps()
if response.state.code == 0:
    print("可用地图:", response.response.map_names)

# 加载地图
response = load_map(
    map_name='floor_1',
    auto_reload=True,  # 永久加载
    timeout=30
)

if response.state.code == 0:
    print("地图加载成功")

建图流程

# 1. 开始建图
print("开始建图模式...")
response = start_mapping(timeout=120)

if response.state.code != 0:
    print("启动建图失败")
    exit(1)

print("建图模式已启动，请移动机器人...")

# 2. 手动控制机器人移动建图
# （使用遥控器或其他方式）
input("建图完成后按 Enter 继续...")

# 3. 停止建图并保存
print("保存地图...")
response = stop_mapping(
    map_name='new_office_map',
    auto_reload=True
)

if response.state.code == 0:
    print("地图已保存")

云台控制

云台扫描

import time

# 扫描拍照
scan_positions = [
    (0, 0),      # 中心
    (-45, 30),   # 左上
    (0, 30),     # 正上
    (45, 30),    # 右上
    (45, 0),     # 右中
    (45, -30),   # 右下
]

for i, (pan, tilt) in enumerate(scan_positions):
    print(f"移动云台到 pan={pan}, tilt={tilt}")

    # 设置云台角度
    set_ptzf(pan=pan, tilt=tilt, relative=False)
    time.sleep(1)  # 等待云台稳定

    # 拍照
    capture_image(f'scan_{i}', type='rgb')
    print(f"  已拍照: scan_{i}")

定时巡检任务

完整的巡检示例

import time
from datetime import datetime

class PatrolTask:
    def __init__(self, points):
        self.points = points
        self.api = get_api_instance(task='patrol')

    def wait_ready(self):
        \"\"\"等待系统就绪\"\"\"
        print("等待系统就绪...")
        state = daystar_ready(timeout=30)
        if state.code != StateCode.success:
            raise RuntimeError("系统未就绪")
        print("✓ 系统就绪")

    def inspect_at_point(self, point_name):
        \"\"\"在指定点进行巡检\"\"\"
        timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")

        # 多角度拍照
        angles = [0, 45, 90, -45, -90]
        for angle in angles:
            set_ptzf(pan=angle, tilt=0, relative=False)
            time.sleep(0.5)

            image_name = f"{point_name}_{angle}_{timestamp}"
            capture_image(image_name, type='rgb')

            print(f"  ✓ 拍照: {image_name}")

    def run_patrol(self):
        \"\"\"执行巡检\"\"\"
        self.wait_ready()

        for i, point in enumerate(self.points, 1):
            print(f"\n[{i}/{len(self.points)}] 前往 {point}...")

            response = navigation_to_location(point)

            if response.state.code == StateCode.success:
                print(f"✓ 到达 {point}")
                self.inspect_at_point(point)
            else:
                print(f"✗ 无法到达 {point}: {response.state.describe}")

        print("\n✓ 巡检完成")

patrol_points = ['checkpoint_1', 'checkpoint_2', 'checkpoint_3']
task = PatrolTask(patrol_points)
task.run_patrol()

错误处理

重试机制

import time

def navigate_with_retry(location, max_retries=3):
    \"\"\"带重试的导航\"\"\"
    for attempt in range(max_retries):
        print(f"尝试 {attempt + 1}/{max_retries}...")

        response = navigation_to_location(location)

        if response.state.code == StateCode.success:
            print("✓ 导航成功")
            return True

        if response.state.code == StateCode.timeout:
            print("超时，重试...")
            time.sleep(2)
            continue
        else:
            print(f"失败: {response.state.describe}")
            return False

    print("✗ 达到最大重试次数")
    return False

# 使用
navigate_with_retry('difficult_point', max_retries=3)

下一步