查看机器人当前版本:cat /userdata/inlink_ws/conf/sys_ver.yaml
重启MCU:
ros2 run inlink_st_imu_driver inlink_st_imu_driver &
查看节点:
ros2 node list
查看自检信息:
cd ~/.ros/log/robot_state_manager/
cat robot_state_manager_node.INFO
屏蔽自检:ros2 topic pub /robot_event std_msgs/msg/UInt16 "{data: 1}"
查看机器电量,工作电压、工作电流:
ros2 topic echo /robot_chassis_device_status
查询固定解 确定机器人与通信杆的 情况:
ros2 topic echo /nmea_raw
充电桩初始化命令:
ros2 topic pub --once /arcpDebug robot_common/msg/Stream "{'type':'initialize_station', 'data':{}}"
设置割草高度:
ros2 topic pub -1 /arcpDebug robot_common/msg/Stream '{type: "set_mowing_lift_position", data: {position: 70}}'
急停解锁命令:
ros2 topic pub --once /robot_req_chassis_stop_ok std_msgs/msg/UInt16 data:\ 0x01
查看感知识别日志命令:
tail -f /root/.ros/log/perception/perception.INFO |grep obj
查看当前感知任务状态 1为避障中
ros2 topic echo /vision_task_status
Aiper McuCnsole v1.1.exe
屏蔽抬升感知命令:
关闭感知告警命令:alarm 3 2 0
打开感知告警命令:alarm 3 2 1