设备信息 API

{
  "rosversion": "1.15.11",
  "rosdistro": "noetic",
  "axbot_version": "1.9.x", // 主软件程序的版本。
  "device": {
    "model": "hygeia", // 设备型号 (例如：hygeia, waiter, hotel, tray, longtray)。
    "sn": "71822043000350z", // 序列号 (SN)，每个设备都是唯一的。
    "name": "71822043000350z" // 某些原型设备可能有特定的名称。
    // 对于大多数生产设备，这与 SN 相同。
  },
  "baseboard": {
    "firmware_version": "22a32218"
  },
  "wheel_control": {
    "firmware_version": "amps_20211103" // 轮控器的固件版本。
  },
  "bottom_sensor_pack": {
    "firmware_version": "1.1.1"
  },
  "depth_camera": {
    "firmware_version": "[/dev/camera:1.2.5-s2-ax-D1]"
  },
  "robot": {
    "footprint": [],
    "inscribed_radius": 0.248,
    "height": 1.2,
    "thickness": 0.546,
    "wheel_distance": 0.36,
    "width": 0.496,
    "charge_contact_position": "back" // 充电触点位置 ("back" 或 "front")。
  },
  "caps": {
    "supportsImuRecalibrateService": true, // 支持 /services/imu/recalibrate 服务。
    "supportsShutdownService": true, // 支持 /services/baseboard/shutdown 服务。
    "supportsRestartService": true, // 支持 /services/restart_service 服务。
    "supportsResetOccupancyGridService": true, // 支持 /services/occupancy_grid_server/reset 服务。
    "supportsImuRecalibrationFeedback": true, // 支持 /imu_state WebSocket 话题。
    "supportsSetControlModeService": true, // 支持 /services/wheel_control/set_control_mode 服务。
    "supportsSetEmergencyStopService": true, // 支持 /services/wheel_control/set_emergency_stop 服务。
    "supportsWheelStateTopic": true, // 支持 /wheel_state WebSocket 话题。
    "supportsWsV2": true, // 支持 V2 WebSocket API (ws://HOST/ws/v2/topics)。
    "supportsRgbCamera": true, // 支持 RGB 相机相关话题。
    "combineImuBiasAndPoseCalibration": true, // 自 2.4.0 版本起可用。合并 IMU 偏置和位姿校准。
    "supportsJackCheck": true, // 支持 POST /services/jack_self_check
    "supportsDuoLidar": true // 支持 POST /services/calibrate_duo_lidar_poses
  }
}

[
  {
    "ssid": "AutoXing",
    "bss": "a4:fa:76:33:d3:62",
    "rssi": -45,
    "open": false // 自 2.3.0 版本起可用。
  },
  {
    "ssid": "AutoXing-guest",
    "bss": "a4:fa:76:33:d3:72",
    "rssi": -33,
    "open": false // 自 2.3.0 版本起可用。
  }
]

{
  "wifi_mode": "station",
  "wpa_state": "completed",
  "route_mode": "eth0_first",
  "wifi_ip": "10.10.41.43",
  "wifi_mac": "e4:5f:01:6d:bd:6a",
  "ssid": "AutoXing",
  "debug_message": "info: Switching to station mode.",
  "routes": [
    "default via 192.168.25.2 dev eth0 src 192.168.25.25 metric 202 ",
    "default via 10.10.40.1 dev wlan0 proto dhcp metric 600 ",
    "10.10.40.0/23 dev wlan0 proto kernel scope link src 10.10.41.43 metric 600 ",
    "192.168.25.0/24 dev eth0 proto dhcp scope link src 192.168.25.25 metric 202 "
  ],
  "active_access_point": {
    "ssid": "AutoXing",
    "hw_address": "a4:fa:76:33:d3:70",
    "strength": 100
  },
  "last_wifi_connect_result": {}
}

{ "mode": "ap" }

{
  "start_time": 1697777324.597,
  "progress": 0.21,
  "logs": [
    {
      "stamp": 1697777324.597,
      "progress": 0.0,
      "msg": "=== AutoXing Axbot Starting Up ==="
    },
    {
      "stamp": 1697777328.597,
      "progress": 0.2,
      "msg": "Loading remote params ..."
    },
    {
      "stamp": 1697777330.601,
      "progress": 0.21,
      "msg": "Starting lidar_node ..."
    }
  ]
}

[
  "pool 2.debian.pool.ntp.org iburst",
  "pool 1.cn.pool.ntp.org iburst",
  "pool 2.cn.pool.ntp.org iburst",
  "pool 3.cn.pool.ntp.org iburst",
  "pool 0.cn.pool.ntp.org iburst",
  "server ntp1.autoxing.com iburst",
  "server ntp2.autoxing.com iburst"
]

{
  "depth_cameras": [
    {
      "name": "ihawk_upward",
      "depth_image_topic": "/depth_camera/downward/image"
    },
    {
      "name": "ihawk_downward",
      "depth_image_topic": "/depth_camera/backward/image"
    }
  ],
  "laser_scanners": [
    {
      "name": "lidar_node",
      "scan_topic": "/horizontal_laser_2d/matched"
    }
  ],
  "rgb_cameras": [
    {
      "name": "rgb_forward",
      "image_topic": "/rgb_cameras/front/compressed"
    }
  ]
}