【睿尔曼-RealMan】睿尔曼复合机器人

/api/robot_status// 获得机器人当前的全局状态

成功时返回:{ "type": "response", "command": "/api/robot_status", "uuid": "", "status": "OK", "error_message": "", "results": { "move_target": "target_name", // 移动指令指定的目标点位名称 "move_status": "running", // 移动指令的执行状态。详细解释见后边 "running_status": "running", // v0.7.12新增，移动任务的具体状态， 详细见后面解释 "move_retry_times": 3, //此次数每增加1，表示机器人进行了新一轮的路径重试；路径规划一 "charge_state": bool, //true->充电中状态。false->未充电状态。 "soft_estop_state": bool, // 通过API接口设置的软急停状态, true->急停中，false->非 "hard_estop_state": bool, // 通过硬件急停按钮设置的硬急停状态, true->急停中，fals "estop_state": bool, // hard_estop_state || sofpt_estop_state, true->急停中 "power_percent": 100, //电量百分比，单位：% "current_pose": { "x": 11.0, // 单位：m "y": 11.0, // 单位：m "theta": 0.5, //单位：rad } "current_floor": 16, "chargepile_id": "1234", // v0.9.6新增。充电状态下表示当前正在充电的充电桩ID，非充 "error_code": "00000000" // v0.7.7新增，16进制错误码，总共8个字节表示，非0表示机 }

失败时返回:{
"type": "response",
"command": "/api/robot_status",
"uuid": "",
"status": "UNKNOWN_ERROR",
"error_message": "Can't catch current robot status"
"results"
}失败时请检查地图是否设置正确或者硬件是否有故障。 

机械臂JSON协议资料

机械臂的控制可以直接发送JSON协议指令和使用API进行通信，如下所示：

（1）查询机械臂状态

（2）MoveJ：关节运动 

（3）MoveL：直线运动

Python实现Socket通信

 首先来看一下如何用Python实现Socket通信，Python 提供了两个级别访问的网络服务：
      1.低级别的网络服务支持基本的 Socket，它提供了标准的 BSD Sockets API，可以访问底层操作系统Socket接口的全部方法。
       2.高级别的网络服务模块 SocketServer，它提供了服务器中心类，可以简化网络服务器的开发。
本文中仅对Socket进行讲述。注意：在使用Socket创建连接时，使用完毕之后必须调用close()方法关闭连接。

Scoket()函数介绍

        Socket又称"套接字"，应用程序通常通过"套接字"向网络发出请求或者应答网络请求，使主机间或者一台计算机上的进程间可以通讯。
Python3 中，我们用 socket() 函数来创建套接字，语法格式如下：

socket.socket([family[, type[, proto]]])

 创建客户端

        Socket客户端创建完成，并且连接服务端之后，会接收到服务端向外广播的信息，且服务端可以获得客户端的IP及其他信息。创建客户端程序如下所示：

# 导入 socket、sys 模块
import socket
import sys
# 创建 socket 对象
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# 服务端/移动底盘的IP
host = '192.168.10.10'
# 移动底盘的端口号
port = 8001
# 连接服务，指定主机和端口
s.connect((host, port))
# 接收小于 1024 字节的数据
msg = s.recv(1024)
s.close()
print (msg.decode('utf-8'))

 实现底盘通信

import socket
import json
import time
client1 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
#底盘的IP
host1 = '192.168.10.10'
#底盘的控制端口
port1 = 31001
#创建与移动底盘的连接
client1.connect((host1, port1))
str1 = ""
#查询底盘的地图列表指令
point1 = '/api/map/list'
#发送指令
client1.send(point1.encode('utf-8'))
#接收底盘返回
data1 = client1.recv(1024).decode()
print(data1)
point2= '/api/move?marker=071901'
client1.send(point2.encode('utf-8'))
data1 = client1.recv(1024).decode()
point3='/api/move?marker=071902'
client1.send(point3.encode('utf-8'))
data1 = client1.recv(1024).decode()
client1.close()

实现机械臂通信的Python程序

import socket
import time
import json
#创建协议指令，下方几个为机械臂运动指令。
point1= '{"command":"movej","joint":[-41395,195,-2699,103268,872,74955,12639],"v":50,"r":0}\r\n'
 
point2= '{"command":"movej","joint":[-42635,5399,9327,108735,-766,64883,21533],"v":30,"r":0}\r\n'
 
point3= '{"command":"movel","pose":[181030,-121700,225700,3132,16,2189],"v":10,"r":0}\r\n'
 
point4= '{"command":"movel","pose":[181030,-121700,265770,3132,16,2189],"v":10,"r":0}\r\n'
 
point5= '{"command":"movej","joint":[-42845,32180,-41576,52599,21931,100707,20650],"v":30,"r":0}\r\n'
 
point6= '{"command":"movel","pose":[154270,-293080,299560,3133,16,2189],"v":10,"r":0}\r\n'
 
point7= '{"command":"movel","pose":[154270,-293080,354680,3133,16,2189],"v":10,"r":0}\r\n'
#创建Socket连接
client1 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
host1 = '192.168.1.18'
port1 = 8080
client1.connect((host1, port1))
client1.send(point1.encode('utf-8'))
 
data1 = client1.recv(1024).decode()
 
time.sleep(5)
print(data1)
 
client1.send(point2.encode('utf-8'))
data1 = client1.recv(1024).decode()
time.sleep(0.5)
 
client1.send(point3.encode('utf-8'))
data1 = client1.recv(1024).decode()
time.sleep(0.5)
 
speed_close = '{"command":"write_single_register","port":1,"address":264,"data":1,"device":1}\r\n'
 
speed_100 = '{"command":"write_single_register","port":1,"address":262,"data":100,"device":1}\r\n'
client1.send(speed_100.encode('utf-8'))
data3 = client1.recv(1024).decode()
time.sleep(0.5)
 
str_1000= '{"command":"write_single_register","port":1,"address":261,"data":1000,"device":1}\r\n'
client1.send(str_1000.encode('utf-8'))
data6 = client1.recv(1024).decode()
time.sleep(0.5)
 
client1.send(speed_close.encode('utf-8'))
data2 = client1.recv(1024).decode()
time.sleep(0.5)
 
client1.send(point4.encode('utf-8'))
data1 = client1.recv(1024).decode()
time.sleep(0.5)
 
client1.send(point5.encode('utf-8'))
data1 = client1.recv(1024).decode()
time.sleep(0.5)
 
client1.send(point6.encode('utf-8'))
data1 = client1.recv(1024).decode()
time.sleep(0.5)
str_0= '{"command":"write_single_register","port":1,"address":261,"data":0,"device":1}\r\n'
client1.send(str_0.encode('utf-8'))
data4 = client1.recv(1024).decode()
time.sleep(0.5)
client1.send(speed_close.encode('utf-8'))
data2 = client1.recv(1024).decode()
time.sleep(0.5)
client1.send(point7.encode('utf-8'))
data1 = client1.recv(1024).decode()
time.sleep(0.5)
client1.close()

复合机器人整体程序只需将底盘与机械臂的控制程序整合到一处即可，此处暂不做解释。