Chassis APIs

ChassisFactory

The ChassisFactory class provides the following method for creating a chassis instance.

• Method:

  create_chassis_from_config(config_file: str) -> ChassisInterface

• Parameter:

  Parameter	Description
  config_path	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:

  An ChassisInterface instance if creation succeeds, otherwise None.

ChassisFactoryParam

The ChassisFactoryParam class is used to describe the parameters required to create a chassis instance.

Attribute	Data Type	Description
chassis_type	str	Chassis vendor
chassis_name	str	Chassis name (e.g., "chassis")
ip	str	IP address (e.g., "127.0.0.1")
port	int	Port number (e.g., 54051)

ChassisInterface

The ChassisInterface class provides a series of public methods for controlling the chassis, such as moving it, obtaining its footprint, and querying its status. Ensure a chassis instance has been created before using these methods.

Connect to the Chassis

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

• Method:

  connect(self) -> alphabot.core.AbcErrorCode

• 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:

  disconnect(self) -> alphabot.core.AbcErrorCode

• Return Value:

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

Get Chassis Pose and Speed

• Method:

  get_pose_speed(self) -> tuple[alphabot.core.AbcErrorCode, ChassisPoseSpeed]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  ChassisPoseSpeed	The chassis pose and speed. For details, please refer to ChassisPoseSpeed.

Get Chassis Pose

• Method:

  get_pose(self) -> tuple[alphabot.core.AbcErrorCode, ChassisPose2D]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  ChassisPose2D	The chassis pose. For details, please refer to ChassisPose2D.

Get Chassis Speed

• Method:

  get_speed(self) -> tuple[alphabot.core.AbcErrorCode, ChassisTwist]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  ChassisTwist	The chassis speed. For details, please refer to ChassisTwist.

Get Chassis Mileage

• Method:

  get_mileage(self) -> tuple[alphabot.core.AbcErrorCode, int]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  int	Accumulated mileage.

Get Chassis Battery Information

• Method:

  get_battery(self) -> tuple[alphabot.core.AbcErrorCode, ChassisBattery]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  ChassisBattery	The chassis battery information. For details, please refer to ChassisBattery.

Get Chassis Status

• Method:

  get_robot_state(self) -> tuple[alphabot.core.AbcErrorCode, ChassisState]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  ChassisState	The chassis status. For details, please refer to ChassisState.

Get Chassis Status Code

• Method:

  get_status_code(self) -> tuple[alphabot.core.AbcErrorCode, ChassisStatusCode]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  ChassisStatusCode	The chassis status code. For details, please refer to ChassisStatusCode.

Get Chassis Hardware Status

• Method:

  get_hardware_state(self) -> tuple[alphabot.core.AbcErrorCode, ChassisHardwareState]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  ChassisHardwareState	The hardware status of the chassis. For details, please refer to ChassisHardwareState.

Get Chassis Static Transform

• Method:

  get_static_tf(self) -> tuple[alphabot.core.AbcErrorCode, list[ChassisTransformStamped]]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  list[ChassisTransformStamped]	Chassis static transforms. For details, please refer to ChassisTransformStamped.

Set Chassis Twist

• Method:

  twist_control(self, linear: float, angular: float) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  linear	Linear velocity
  angular	Angular velocity

• Return Value:

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

Set Chassis Maximum Speed

• Method:

  set_max_speed(self, max_spd: float) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  max_spd	Maximum speed

• Return Value:

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

Initialize Chassis

• Method:

  init_robot(self, pose: ChassisPose2D, update_flg: int) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  pose	The chassis pose. For details, please refer to ChassisPose2D.
  update_flg	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:

  move_to_point_sync(
      self,
      x: float,
      y: float,
      theta: float,
      callback: typing.Callable,
      max_spd: float = 1.0
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  x	X-axis coordinate of the target position.
  y	Y-axis coordinate of the target position.
  theta	Orientation of the target position.
  callback	Callback function.
  max_spd	Maximum speed.

• Return Value:

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

Charge

• Method:

  to_charge_sync(self, max_spd: float = 1.0) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  max_spd	Maximum speed

• Return Value:

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

Exit Charging

• Method:

  exit_charge_sync(self, max_spd: float = 1.0) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  max_spd	Maximum speed

• Return Value:

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

Move Linearly

• Method:

  move_straight_sync(
      self,
      distance: float,
      speed: float,
      callback: typing.Callable,
      use_avoid: bool = True
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  distance	Travel distance.
  speed	Travel speed.
  callback	Callback function.
  use_avoid	Whether to enable obstacle avoidance.

• Return Value:

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

Move Rotationally

• Method:

  move_rotate_sync(
      self,
      angle: float,
      speed: float,
      callback: typing.Callable,
      use_avoid: bool = True
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  angle	Rotation angle.
  speed	Rotation speed.
  callback	Callback function.
  use_avoid	Whether to enable obstacle avoidance.

• Return Value:

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

Get Local Footprint

• Method:

  get_local_footprint(self) -> tuple[alphabot.core.AbcErrorCode, list[ChassisPoint32]]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  list[ChassisPoint32]	Local footprint points. For details, please refer to ChassisPoint32.

Get Global Footprint

• Method:

  get_global_footprint(self) -> tuple[alphabot.core.AbcErrorCode, list[ChassisPoint32]]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  list[ChassisPoint32]	Global footprint points. For details, please refer to ChassisPoint32.

Get Local and Global Footprint

• Method:

  get_all_footprint(self) -> tuple[alphabot.core.AbcErrorCode, tuple[list[ChassisPoint32], list[ChassisPoint32]]]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  tuple[list[ChassisPoint32], list[ChassisPoint32]]	The first element is the local footprint, and the second element is the global footprint. For the data structure of footprint points, please refer to ChassisPoint32.

Get Static Footprint (Based on odom and base_link Frames)

• Method:

  ai2_get_local_footprint(self) -> tuple[alphabot.core.AbcErrorCode, list[ChassisPoint32]]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  list[ChassisPoint32]	Footprint points. For details, please refer to ChassisPoint32.

Get Static Footprint (Based on map and base_link Frames)

• Method:

  ai2_get_global_footprint(self) -> tuple[alphabot.core.AbcErrorCode, list[ChassisPoint32]]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  list[ChassisPoint32]	Footprint points. For details, please refer to ChassisPoint32.

Get Static Footprint

• Method:

  ai2_get_all_footprint(self) -> tuple[alphabot.core.AbcErrorCode, tuple[list[ChassisPoint32], list[ChassisPoint32]]]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  tuple[list[ChassisPoint32], list[ChassisPoint32]]	The first element is the footprint calculated based on the odom and base_link frames, and the second element is the footprint calculated based on the map and base_link frames. For the data structure of footprint points, please refer to ChassisPoint32.

Set Local Footprint

• Method:

  set_local_footprint(self, points: list[ChassisPoint32]) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  points	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:

  set_global_footprint(self, points: list[ChassisPoint32]) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  points	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:

  set_all_footprint(self, local_points: list[ChassisPoint32], global_points: list[ChassisPoint32]) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  local_points	Local footprint points. For details, please refer to ChassisPoint32.
  global_points	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:

  get_name(self) -> str

• Return Value:

  The name of the chassis instance.

ChassisPoseSpeed

Attribute	Data Type	Description
map_id	int	Map ID
mileage	int	Accumulated mileage
robot_id	int	Chassis ID
pose	ChassisPose2D	2D pose
twist	ChassisTwist	Twist (linear + angular velocity)

ChassisPose2D

The ChassisPose2D class represents the 2D pose of a chassis.

Attribute	Data Type	Description
theta	float	Orientation
x	float	X-axis coordinate value
y	float	Y-axis coordinate value

ChassisPoint32

The ChassisPoint32 class represents the position of a footprint point.

Attribute	Data Type	Description
x	float	X-axis coordinate value
y	float	Y-axis coordinate value
z	float	Z-axis coordinate value

ChassisTwist

Attribute	Data Type	Description
angular	float	Angular velocity
linear	float	Linear velocity

ChassisBattery

Attribute	Data Type	Description
charge_state	ChargeState	Charging State
robot_id	int	Chassis ID
power	int	Battery percentage (0—100). - 100: Fully charged. - 0: No charge.
health	int	Battery Health (full charge capacity / design capacity)
charge_cycle	int	Charge Cycle Count
battery_cycle	int	Battery cycle
temp_max	int	Battery temperature (maximum temperature)
success	bool	Request success flag. - True: Request succeeded. - False: Request failed to process.
msg	str	Response message description, typically used to explain why a request could not be processed.

ChargeState

The ChargeState class is an enumerator representing the charging status of the chassis battery.

Note

This class is an enumeration. You should directly use the constant members defined within it and do not need to instantiate it.

Constant Member	Value	Description
UNDEFINED	0	Undefined
NOT	1	Not charging
MANUAL	2	Manual charging in progress
AUTO	3	Auto charging in progress

ChassisState

Attribute	Data Type	Description
robot_id	int	Chassis ID
state	ChassisStateType	Chassis auto mode status
success	bool	Request success flag. - True: Request succeeded. - False: Request failed to process.
msg	str	Response message description, typically used to explain why a request could not be processed.

ChassisStateType

The ChassisStateType class is an enumerator representing the chassis state.

Note

This class is an enumeration. You should directly use the constant members defined within it and do not need to instantiate it.

Constant Member	Value	Description
UNDEFINED	0	Undefined
UNINIT	1	Uninitialized
IDLE	2	Idle
PARKING	3	Parking
TASK	4	In Task
WARNING	5	Warning
FAULT	6	Fault
FOLLOWING	7	Following
CHARGING	8	Charging
MAPPING	9	Mapping

ChassisStatusCode

Attribute	Data Type	Description
robot_id	int	Chassis ID
code	int	Status code
time	int	Time
status_msg	str	Message
robot_task_id	int	Task ID
state	StatusCodeRobotState	Chassis auto mode status
type	ActionType	Action type
level	StatusLevel	Level
success	bool	Request success flag. - True: Request succeeded. - False: Request failed to process.
msg	str	Response message description, typically used to explain why a request could not be processed.

StatusCodeRobotState

Note

This class is an enumeration. You should directly use the constant members defined within it and do not need to instantiate it.

Constant Member	Value	Description
UNDEFINED	0	Undefined
UNINIT	1	Uninitialized
IDLE	2	Idle
PARKING	3	Parking
TASK	4	In Task
WARNING	5	Warning
FAULT	6	Fault
FOLLOWING	7	Following
CHARGING	8	Charging
MAPPING	9	Mapping

ActionType

The ActionType class is an enumerator representing the type of chassis action.

Note

This class is an enumeration. You should directly use the constant members defined within it and do not need to instantiate it.

Constant Member	Value	Description
UNDEFINED	0	Undefined
NAV	1	Navigation
STEP_CTRL	2	Step Control
SECONDPOS_ENTER	3	Second Position Enter
SECONDPOS_QUIT	4	Second Position Quit
CARRY	5	Carrying Action
WAIT	6	Wait
CHARGE	7	Charge

StatusLevel

Note

This class is an enumeration. You should directly use the constant members defined within it and do not need to instantiate it.

Constant Member	Value	Description
NORMAL	0	Normal
TIPS	1	Tips
WARN	2	Warning
FAULT	3	Fault

ChassisHardwareState

Attribute	Data Type	Description
robot_id	int	Chassis ID
lidars	list[HardwareStateType]	Repeated Lidar 2
cameras	list[HardwareStateType]	Repeated Camera 2
success	bool	Request success flag. - True: Request succeeded. - False: Request failed to process.
msg	str	Response message description, typically used to explain why a request could not be processed.

HardwareStateType

Note

This class is an enumeration. You should directly use the constant members defined within it and do not need to instantiate it.

Constant Member	Value	Description
NORMAL	0	Normal
INFO	1	Tips
WARN	16	Warning
FATAL	17	Fault

ChassisTransformStamped

Attribute	Data Type	Description
frame_id	str	Frame ID
secs	int	Seconds
nsecs	int	Nanoseconds
child_frame_id	str	Child frame ID
t_x	float	XYZ-axis coordinate values
t_y	float
t_z	float
r_x	float	Quaternion
r_y	float
r_z	float
r_w	float

ChassisOperationState

Attribute	Data Type	Description
robot_id	int	Chassis ID
nav	NavState	Chassis navigation information
robot	RobotBit	Chassis bit information
success	bool	Request success flag. - True: Request succeeded. - False: Request failed to process.
msg	str	Response message description, typically used to explain why a request could not be processed.

NavState

Note

This class is an enumeration. You should directly use the constant members defined within it and do not need to instantiate it.

Constant Member	Value	Description
UNDEFINED	0	Undefined
NARROW	1	Narrow passage
GUIDE	2	Guide to destination
INA_LIFT	3	In elevator
IMPEDE	4	Obstruct
QR_CODE	5	QR code
STAGE	6	Segment arrival

RobotBit

Note

This class is an enumeration. You should directly use the constant members defined within it and do not need to instantiate it.

Constant Member	Value	Description
UNDEFINED	0	Undefined
TASKABLE	1	Taskable