Parking service interface

function	C++	ROS
setting stopping parameters	✔	✔
Switch stop	✔

Setting stopping parameters

C++ interface

rcClientInterfaceSetGuardianintroduction

/**
* @brief Sets the Guardian parameters.
*
* This function sets the Guardian's velocity decay ratio and trigger source.
*
* @param from Specifies the operation mode (navigation or joystick).
* @param velocity_decay_ratio Specifies the velocity decay ratio.
* @param trigger_source Specifies the trigger source.
* @return bool Returns `true` for a successful setting, `false` for a failed setting.
*/
bool rcClientInterfaceSetGuardian(
    common::NAV_OR_JOY_MODE from,
    float velocity_decay_ratio,
    std::string trigger_source);

use Case

robot_control::common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
float decay_ratio = 0.5; // 示例值，表示速度衰减比率
std::string source = "SOURCE_A"; // 示例触发源
bool success = rcClientInterfaceSetGuardian(mode, decay_ratio, source);
if (success) {
    std::cout << "Guardian Parameters Set Successfully." << std::endl;
} else {
    std::cout << "Failed to Set Guardian Parameters." << std::endl;
}

Precautions

• ensure that the incoming velocity decay ratio and trigger source are valid.

ROS2 interface

this interface is used to subscribe to guardian topic. This topic uses daystar_navigation_msgs::msg::Guardian message type, which contains information related to parking. Set the parking parameters after obtaining the information.

Topic Name	Topic type	role
/guardian	daystar_navigation_msgs::msg::Guardian	subscriber

Message structure

daystar_navigation_msgs::msg::Guardian the message type is defined and usually contains parameters related to parking.

sample message

daystar_navigation_msgs::msg::Guardian guardian_msg;
// 根据daystar_navigation_msgs::msg::Guardian的定义填充消息内容

test Method

• publish a one-time message:

ros2 topic pub --once /guardian daystar_navigation_msgs/msg/Guardian "{...}"

• continued release of news:

ros2 topic pub --rate 10 /guardian daystar_navigation_msgs/msg/Guardian "{...}"

Precautions

• make sure the ROS2 node is up and subscribing guardian topic.

• the format of the published message must be strictly daystar_navigation_msgs::msg::Guardian the definition of the message type.

• when continuously publishing messages, pay attention to controlling the publishing frequency to avoid network congestion.

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Switch stop

C++ interface

rcClientInterfaceSetGuardianSwitchintroduction

/**
* @brief Turns Guardian on or off.
*
* This function is used to turn Guardian on or off.
*
* @param from Specifies the mode of operation (navigation or joystick).
* @param enable Specifies whether to enable Guardian (true means on, false means off).
* @return bool Returns `true` for a successful setting, `false` for a failed setting.
*/
bool rcClientInterfaceSetGuardianSwitch(
    robot_control::common::NAV_OR_JOY_MODE from,
    bool enable);

use Case

robot_control::common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
bool enable_guardian = true; // 示例值，表示开启Guardian
bool success = rcClientInterfaceSetGuardianSwitch(mode, enable_guardian);
if (success) {
    std::cout << "Guardian Switch Set Successfully." << std::endl;
} else {
    std::cout << "Failed to Set Guardian Switch." << std::endl;
}

precautions

• ensure that the enabled state passed in is valid.