[定位控制器]获取导航信息

ego

里程计接口可以通过 WebSocket 连接直接获取。控制器为服务器 IP(192.168.31.7)。端口为1202
一般用于导航控制器的里程对接
ws在线测试工具
加入域命令

{
"packet": {
"cmd": "join",
"region": "slam"
},
"msg": {}
}

注意，需要先加入这个域后，控制器接受到轮子的数据会主动往客户端发送定位数据

position_x 定位中的x坐标
position_y 定位中的y坐标
position_theta 定位中的theta角度
mapname 当前定位的地图名
confidence 当前定位的置信度
laserHZ 当前激光频率
odomHZ 当前里程计频率

talk 当前数据包标识，固定为locationState

{
    "position_x": 0,
    "position_y": 0,
    "position_theta": 0,
    "mapname":"map",
    "confidence": 0.0632394403219223,
    "currentLayerID": -1,
    "errorState": "",
    "laserHZ": 9.856913747827345,
    "laser_inrange": 0.5615,
    "laser_sizes_1": 6000,
    "laser_sizes_2": -1,
    "laser_time": 1722581955.4374952,
    "map_load_time_cost": 0.43245387077331543,
    "map_resolution": 0.019999999552965164,
    "map_state": 1,
    "map_x_m": 33.07999801635742,
    "map_y_m": 43.47999954223633,
    "max_ratio": 2631,
    "min_ratio": 0,
     "talk":"locationState",

    "odomErrorRecovery": 0,
    "odomHZ": 60.819942135568056,
    "odomMarkUpdate": false,
    "odom_dif_time": 0,
    "odom_time": 1722581955.4374952,
    "outline_match_acted": false,
    "process_hz": -1,
    "ref_match_acted": false,
    "ref_match_type": -1,
    "ref_scan_match_change": null,
    "reflector_num": 2,
    "reflector_used": -1,
    "refmatch_error": -1,
    "res_1": -1,
    "res_2": -1,
    "result_type": 0,
    "time": "06:59:15",
    "validPoints": 540,
    "validResponse": -1,
    "version": "20240420"
}