Chassis APIs

The chassis APIs are implemented by the following classes. You can find the corresponding header files in the c++/include/drivers/chassis directory to access the complete set of APIs.

Header File	Class Name	Description
chassis_factory.h	ChassisFactory	A factory class for creating chassis instances of different types.
chassis_interface.h	ChassisInterface	The base interface class defining common APIs for chassis control. All vendor-specific drivers should inherit from this class.

Create a Chassis Instance

There are two ways to create a chassis instance.

1. Create a chassis instance by chassis parameters.

   • Method:

     static std::shared_ptr<ChassisInterface> create_chassis(
         const ChassisFactoryParam& param)

   • Parameter:

     Parameter	Type	Description
     param	Input	Parameters related to the chassis. For details, please refer to ChassisFactoryParam.

   • Return Value:

     Returns a shared pointer to an object of a class derived from ChassisInterface if the instance is created successfully; otherwise, returns nullptr.

2. Create a chassis instance from a configuration file.

   • Method:

     static std::shared_ptr<ChassisInterface> create_chassis_from_config(
         const std::string& config_path)

   • Parameter:

     Parameter	Type	Description
     config_path	Input	Path to the configuration file. The configuration file must be a JSON file. { "chassis_type": "xxx", # Chassis vendor "chassis_name": "chassis", # Chassis name "ip": "127.0.0.1", # IP address "port": 51051 # Port number }

   • Return Value:

     Returns a shared pointer to an object of a class derived from ChassisInterface if the instance is created successfully; otherwise, returns nullptr.

Connect to the Chassis

After creating a chassis instance, you can establish a connection to the chassis using the following method.

• Method:

  AbcErrorCode connect()

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Disconnect from the Chassis

You can disconnect from the chassis using the following method.

• Method:

  AbcErrorCode disconnect()

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Chassis Pose and Speed

• Method:

  AbcErrorCode get_pose_speed(alphabot::ChassisPoseSpeed& pose_spd)

• Parameter:

  Parameter	Type	Description
  pose_spd	Output	The chassis pose and speed. For details, please refer to ChassisPoseSpeed.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Chassis Pose

• Method:

  AbcErrorCode get_pose(alphabot::ChassisPose2D& pose)

• Parameter:

  Parameter	Type	Description
  pose	Output	The chassis pose. For details, please refer to ChassisPose2D.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Chassis Speed

• Method:

  AbcErrorCode get_speed(alphabot::ChassisTwist& spd)

• Parameter:

  Parameter	Type	Description
  spd	Output	The chassis speed. For details, please refer to ChassisTwist.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Chassis Mileage

• Method:

  AbcErrorCode get_mileage(uint32_t& mileage)

• Parameter:

  Parameter	Type	Description
  mileage	Output	Accumulated mileage.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Chassis Battery Information

• Method:

  AbcErrorCode get_battery(alphabot::ChassisBattery& battery)

• Parameter:

  Parameter	Type	Description
  battery	Output	The chassis battery information. For details, please refer to ChassisBattery.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Chassis Status

• Method:

  AbcErrorCode get_robot_state(alphabot::ChassisState& robot_state)

• Parameter:

  Parameter	Type	Description
  robot_state	Output	The chassis status. For details, please refer to ChassisState.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Chassis Status Code

• Method:

  AbcErrorCode get_status_code(alphabot::ChassisStatusCode& status_code)

• Parameter:

  Parameter	Type	Description
  status_state	Output	The chassis status code. For details, please refer to ChassisStatusCode.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Chassis Hardware Status

• Method:

  AbcErrorCode get_hardware_state(alphabot::ChassisHardwareState& hardware_state)

• Parameter:

  Parameter	Type	Description
  hardware_state	Output	The hardware status of the chassis. For details, please refer to ChassisHardwareState.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Chassis Static Transform

• Method:

  AbcErrorCode get_static_tf(std::vector<alphabot::ChassisTransformStamped>& transforms)

• Parameter:

  Parameter	Type	Description
  transforms	Output	Chassis static transforms. For details, please refer to ChassisTransformStamped.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Chassis Twist

• Method:

  AbcErrorCode twist_control(float linear, float angular)

• Parameters:

  Parameter	Type	Description
  linear	Input	Linear velocity
  angular	Input	Angular velocity

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Chassis Maximum Speed

• Method:

  AbcErrorCode set_max_speed(float max_spd)

• Parameter:

  Parameter	Type	Description
  max_spd	Input	Maximum speed

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Initialize Chassis

• Method:

  AbcErrorCode init_robot(alphabot::ChassisPose2D pose, uint8_t update_flg)

• Parameters:

  Parameter	Type	Description
  pose	Input	The chassis pose. For details, please refer to ChassisPose2D.
  update_flg	Input	Flag indicating whether to update the chassis pose.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Move to a Target Position

• Method:

  AbcErrorCode move_to_point_sync(
      float x,
      float y,
      float theta,
      std::function<void(alphabot::ChassisTaskResponse)> func_callback,
      float max_spd = 1.0)

• Parameters:

  Parameter	Type	Description
  x	Input	X-axis coordinate of the target position.
  y	Input	Y-axis coordinate of the target position.
  theta	Input	Orientation of the target position.
  func_callback	Input	Callback function. For the function parameter type, please refer to ChassisTaskResponse.
  max_spd	Input (optional)	Maximum speed.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Charge

• Method:

  AbcErrorCode to_charge_sync(float max_spd = 1.0)

• Parameter:

  Parameter	Type	Description
  max_spd	Input (optional)	Maximum speed.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Exit Charging

• Method:

  AbcErrorCode exit_charge_sync(float max_spd = 1.0)

• Parameter:

  Parameter	Type	Description
  max_spd	Input (optional)	Maximum speed.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Move Linearly

• Method:

  AbcErrorCode move_straight_sync(
      float distance,
      float speed,
      std::function<void(alphabot::ChassisTaskResponse)> func_callback,
      bool use_avoid = true)

• Parameters:

  Parameter	Type	Description
  distance	Input	Travel distance.
  speed	Input	Travel speed.
  func_callback	Input	Callback function. For the function parameter type, please refer to ChassisTaskResponse.
  use_avoid	Input (optional)	Whether to enable obstacle avoidance.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Move Rotationally

• Method:

  AbcErrorCode move_rotate_sync(
      float angle,
      float speed,
      std::function<void(alphabot::ChassisTaskResponse)> func_callback,
      bool use_avoid = true)

• Parameters:

  Parameter	Type	Description
  angle	Input	Rotation angle.
  speed	Input	Rotation speed.
  func_callback	Input	Callback function. For the function parameter type, please refer to ChassisTaskResponse.
  use_avoid	Input (optional)	Whether to enable obstacle avoidance.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get or Set Footprint

Get Local Footprint

• Method:

  AbcErrorCode get_local_footprint(std::vector<alphabot::ChassisPoint32>& points)

• Parameter:

  Parameter	Type	Description
  points	Output	Local footprint points. For details, please refer to ChassisPoint32.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Global Footprint

• Method:

  AbcErrorCode get_global_footprint(std::vector<alphabot::ChassisPoint32>& points)

• Parameter:

  Parameter	Type	Description
  points	Output	Global footprint points. For details, please refer to ChassisPoint32.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Local and Global Footprint

• Method:

  AbcErrorCode get_all_footprint(
      std::vector<alphabot::ChassisPoint32>& local_points,
      std::vector<alphabot::ChassisPoint32>& global_points)

• Parameters:

  Parameter	Type	Description
  local_points	Output	Local footprint points. For details, please refer to ChassisPoint32.
  global_points	Output	Global footprint points. For details, please refer to ChassisPoint32.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Static Footprint (Based on odom and base_link Frames)

• Method:

  AbcErrorCode ai2_get_local_footprint(std::vector<alphabot::ChassisPoint32>& points)

• Parameter:

  Parameter	Type	Description
  points	Output	Footprint points. For details, please refer to ChassisPoint32.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Static Footprint (Based on map and base_link Frames)

• Method:

  AbcErrorCode ai2_get_global_footprint(std::vector<alphabot::ChassisPoint32>& points)

• Parameter:

  Parameter	Type	Description
  points	Output	Footprint points. For details, please refer to ChassisPoint32.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Static Footprint

• Method:

  AbcErrorCode ai2_get_all_footprint(
      std::vector<alphabot::ChassisPoint32>& local_points,
      std::vector<alphabot::ChassisPoint32>& global_points)

• Parameters:

  Parameter	Type	Description
  local_points	Output	Footprint points (Based on odom and base_link Frames). For details, please refer to ChassisPoint32.
  global_points	Output	Footprint points (Based on map and base_link frames). For details, please refer to ChassisPoint32.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Local Footprint

• Method:

  AbcErrorCode set_local_footprint(const std::vector<alphabot::ChassisPoint32>& points)

• Parameter:

  Parameter	Type	Description
  points	Input	Local footprint points. For details, please refer to ChassisPoint32.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Global Footprint

• Method:

  AbcErrorCode set_global_footprint(const std::vector<alphabot::ChassisPoint32>& points)

• Parameter:

  Parameter	Type	Description
  points	Input	Global footprint points. For details, please refer to ChassisPoint32.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Local and Global Footprint

• Method:

  AbcErrorCode set_all_footprint(
      const std::vector<alphabot::ChassisPoint32>& local_points,
      const std::vector<alphabot::ChassisPoint32>& global_points)

• Parameters:

  Parameter	Type	Description
  local_points	Input	Local footprint points. For details, please refer to ChassisPoint32.
  global_points	Input	Global footprint points. For details, please refer to ChassisPoint32.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Chassis Name

• Method:

  std::string get_name() const

• Return Value:

  The name of the chassis instance.