Robot Protocols
/robot/msg/{robotID}
| Source | Simulator |
| Destination | Robot (Virtual | Physical) |
| Data Type | String |
| Sample Message |
[MessageType] [MessageValue]
|
| Description |
Send a control message to an individual robot.
robotID: ID number of the robot
|
/robot/msg/broadcast
| Source | Simulator |
| Destination | Robot (Virtual | Physical) |
| Data Type | String |
| Sample Message |
[MessageType] [MessageValue]
|
| Description | Send a control message to all active robots.
|
Example MessageType and MessageValue pairs:
- ID? -1
- START -1
- STOP -1
- RESET -1
/robot/live
| Source | Robot (Virtual | Physical) |
| Destination | Simulator |
| Data Type | JSON |
| Sample Message |
{"id": [robotID], "reality": [reality]}
|
| Description |
Heartbeat signal from the robots to server.
Simulator will keep a track of this to prune dead robots from the system.
robotID: ID number of the robot
reality: V: virtual, R: real
|
/robot/create
| Source | Localization System, Virtual Robot |
| Destination | Simulator, Visualizer |
| Data Type | JSON |
| Sample Message |
{ "id":0, "x":10, "y":10, "heading":0.0, "reality": "R" }
|
| Description |
This will be originated by virtual robots themselves at the beginning,
or by the localization system for physical robots.
Information taken by the Simulator will create a robot instance,
in its Mixed Reality Environment and the Visualizer will create a robot geometry.
id: ID number of the robot
x, y, z, heading : floating point number with 2 decimals
reality: V: virtual, R: real
|
/robot/delete
| Source | Simulator |
| Destination | Visualizer |
| Data Type | JSON |
| Sample Message |
{ "id": [robotID] }
|
| Description |
This will inform other systems to remove the robot.
Invoked by the prune scheduler on the Simulator.
robotID: ID number of the robot
|