Moby gRPC Client Python API

Moby gRPC API List

Moby 상태 데이터 얻기

Command	Description	Return Type
`get_moby_state()`	Get the current state of the Moby	`dict`
`get_moby_error_state()`	Get the error state of the Moby	`[str, int, 0, 0]`
`recover()`	Recover the error state of the Moby	-

예시로 Moby의 상태와 에러상태를 다음과 같이 얻을 수 있습니다.

state = moby.get_moby_state()
print(state)

error = moby.get_moby_error_state()
print(error)

* 출력:

{'state': 'IDLE', 'is_ready': True, 'is_enable': True, 'is_moving': False, 'is_violation': False}
['NONE', 0, 0, 0]

상태 및 에러 유형은 다음과 같습니다.

STRING STATE
- state : 현재 Moby의 상태

State	Description
SYSTEM_OFF	None
SYSTEM_ON	Initializing System and Servo
IDLE	Idle, Wait for command
MOVING	Drive by move rotation or driving
TELE_OP	Drive by set_target_vel
VIOLATE	Error : get Violation
RECOVER_SOFT	Recover Error State

BOOL STATE
- is_ready : 이더캣 마스터와 슬레이브가 모두 연결되어있고, 활성화되어있는 상태
- is_enable : 모든 서보가 켜져있는 상태
- is_moving : Moby가 움직이는 상태
- is_violation : 에러 발생
Error STATE

Error State	Description
None	Normal State
SW_MASTER_NOT_OP	EtherCAT Master is not operational
SW_SLAVES_NOT_OP	EtherCAT Slaves are not operational
SW_SERVO_NOT_ON	Servo is not On
SW_SERVO_NOT_READY	Servo is not Ready to control
SW_ENCODER_ABNORMAL	rotation encoder not working
SW_BUMPER_DETECT	(with bumper) collision detected
HW_CONNECTION_LOST	EtherCAT Comm Disconnected

오도메트리와 로봇 역학 데이터

Command	Description	Parameters	Return Type
`get_moby_pose()`	Get the Moby pose including position and orientation.	None	`list` ^[1]
`get_moby_vel()`	Get the Moby velocity including linear and angular velocities.	None	`list` ^[1]
`get_target_vel()`	Get the target velocity of Moby.	None	`list` ^[1]
`reset_moby_pose()`	Reset the Moby pose to its initial state.	None	None
`get_rotation_angle()`	Get the Moby's rotation angle.	None	`dict` ^[2]
`get_drive_speed()`	Get the drive speed of Moby.	None	`dict` ^[2]
`get_zero()`	Get the zero counts of rotation motors.	None	`dict` ^[2]

^{[1]: [x, y, w]}

^{[2]: [fl:Front Left, fr:Front Right, bl:Back Left, br:Back Right]}

사용 예시는 다음과 같습니다.

pose_data = moby.get_moby_pose()
vel_data = moby.get_moby_vel()
rotation_angle = moby.get_rotation_angle()
drive_speed = moby.get_drive_speed()
target_vel = moby.get_target_vel()
zero_point = moby.get_zero()

print("Pose", pose_data)
print("Velocity", vel_data)
print("Rotation angle", rotation_angle)
print("Driving speed", drive_speed)
print("Target velocity", target_vel)
print("Zero position", zero_point)

moby.reset_moby_pose()

출력:

Pose [0.0, 0.0, -0.0]

Velocity [0.0, 0.0, 0.0]

Rotation angle {'fl': -0.0, 'fr': -0.00, 'bl': 0.00, 'br': -0.00}

Driving speed {'fl': 0.0, 'fr': 0.0, 'bl': 0.0, 'br': 0.0}

Target velocity [0.0, 0.0, 0.0]

Zero position {'fl': 9410731, 'fr': -2143286890, 'bl': 266461587, 'br': -1685613215}

이 예시에서 Odometry 및 Physical 데이터를 얻는 것을 보여주며, Pose는 reset_moby_pose() 함수를 사용하여 초기 상태로 재설정 할 수 있습니다.

센서 값 획득

Command	Description	Parameters	Return Type
`get_gyro_data()`	Get the gyroscope data. Heading angle and angular velocity as [rad] and [rad/s] units	None	`list`
`get_imu_data()`	Get the Inertial Measurement Unit (IMU) data. Angle, angular velocity, linear acceleration	None	`[list, list, list]`
`reset_gyro()`	Reset the gyroscope data	None	None
`use_gyro_for_odom(use_gyro)()`	use gyro sensor to estimate the heading direction	`use_gyro: bool`	None
`get_us_data()`	Get the UltraSonic (US) sensor data	None	`dict`
`get_bms()`	Get the Battery Management System (BMS) data^[1],[2]	None	`dict`

^{[1] : GreenPuzzle}

^{BMS status-1, BMS status-2,
Pack voltage-1, Pack voltage-2,
Battery Voltage-1, Battery Voltage-2,
Pack current1-1, Pack current1-2, Pack current2-1, Pack current2-2,
Temperature-1, Temperature-2, Temperature-3, Temperature-4}

^{[2] : CTNS}

^{Pack voltage-1, Pack current1-1,
Is Charge, Is Cell OverVoltage,
Is Cell UnderVoltage, Is OverCurrent Charge,
Is OverCurrent Discharge, Is Short Circuit,
Is OverTemperature, Is Pack OverVoltage,
SOC', SOH, Time for Charge, time for Discharge
Remain Capacity Ah, Remain Capacity Wh
Temperature-(1~3), Cell Voltage-(1~13)}

사용 예시는 다음과 같습니다.

gyro_data = moby.get_gyro_data()
moby.reset_gyro()
use_gyro_for_odom(use_gyro=True)
imu_data = moby.get_imu_data()
us_data = moby.get_us_data()
bms_data = moby.get_bms()

print("Gyro data")
print(gyro_data)

print("IMU all")
print(imu_data)

print("US data")
print(us_data)

print("BMS-GreenPuzzle")
print(bms_data)

* 출력:

Gyro data
[-0.002, -0.0]

IMU all
([0.0, 0.0, -0.0], [0.0, 0.0, 0.0], [-0.0, 0.0, 9.56148375])

US data
{'front_left1': 65535, 'front_left2': 65535, 'front_left3': 65535, 'front_ground': 100, 'front_right1': 65535, 'front_right2': 65535, 'front_right3': 65535, 'front_right4': 65535,
 'back_right1': 65535, 'back_right2': 65535, 'back_right3': 65535, 'back_ground': 100, 'back_left1': 65535, 'back_left2': 65535, 'back_left3': 65535, 'back_left4': 65535}

BMS
{'BMS status-1': 84.0, 'BMS status-2': 84.0, 'Pack voltage-1': 54.62, 'Pack voltage-2': 54.35, 'Battery Voltage-1': 54.44, 'Battery Voltage-2': 54.42,
 'Pack current1-1': -1.3, 'Pack current1-2': -1.9, 'Pack current2-1': -1.6, 'Pack current2-2': -2.3, 'Is Charge': 0, 'Is Cell OverVoltage': 0, 'Is Cell UnderVoltage': 0,
 'Is OverCurrent Charge': 0, 'Is OverCurrent Discharge': 0, 'Is Short Circuit': 0, 'Is OverTemperature': 0, 'Is Pack OverVoltage': 0, 'SOC': 0.0, 'SOH': 0,
 'Time for Charge': 0, 'time for Discharge': 0, 'Remain Capacity Ah': 0.0, 'Remain Capacity Wh': 0, 'Temperature-1': 21.0, 'Temperature-2': 20.0, 'Temperature-3': 21.0,
 'Temperature-4': 20.0, 'Cell Voltage-1': 0.0, 'Cell Voltage-2': 0.0, 'Cell Voltage-3': 0.0, 'Cell Voltage-4': 0.0, 'Cell Voltage-5': 0.0, 'Cell Voltage-6': 0.0,
 'Cell Voltage-7': 0.0, 'Cell Voltage-8': 0.0, 'Cell Voltage-9': 0.0, 'Cell Voltage-10': 0.0, 'Cell Voltage-11': 0.0, 'Cell Voltage-12': 0.0, 'Cell Voltage-13': 0.0}

이 예제에서 gyro_data, imu_data, us_data 및 bms_data 변수는 각각 자이로스코프, IMU, 초음파 센서 및 BMS에서 데이터를 저장합니다. 딕셔너리의 키를 사용하여 특정 값을 액세스할 수 있습니다. 예를 들어, BMS 데이터의 배터리 팩 전압을 액세스하려면 bms_data['Pack voltage-1']을 사용하면 됩니다.

이 예제는 센서 데이터 딕셔너리에서 특정 값을 액세스하고 출력하는 방법을 보여줍니다.

Moby 모션 커맨드

Command	Description	Parameters
`stop_motion()`	Stops all motion of Moby.	None
`set_target_vel(vx: float, vy: float, vw: float)`	Set the target linear and angular velocities for Moby.	`vx: float` `vy: float` `vw: float`
`move_rotation_deg(fl: float, fr: float, bl: float, br: float)`	Rotate each wheel of Moby by specified angles in degrees.	`fl: float` `fr: float` `bl: float` `br: float`
`move_driving_mps(fl: float, fr: float, bl: float, br: float)`	Drive each wheel of Moby at specified speeds in meters per second.	`fl: float` `fr: float` `bl: float` `br: float`

사용 예시는 다음과 같습니다.

# Stop Moby's motion
moby.stop_motion()

# Set target velocity (linear_x, linear_y, angular_z)
moby.set_target_vel(0.5, 0.0, 0.1)

# Rotate each wheel by 90 degrees
moby.move_rotation_deg(fl=90, fr=90, bl=90, br=90)

# Drive each wheel forward for 0.5 m/s
moby.move_driving_mps(fl=0.5, fr=0.5, bl=0.5, br=0.5)

상기 예제는 Moby 모션 명령을 사용하여 로봇의 움직임을 제어하는 방법을 보여줍니다.
move_rotation_deg와 move_driving_mps는 로봇을 MOVING 상태로, set_target_vel는 로봇을 TELEOP 상태로 전환하고 주행을 시작합니다.

Moby Control Parameter 설정

Command	Description	Parameters	Return Type
`set_zero_as_current()`	Set zero as current position of rotation motors	None	None
`set_rotation_gain(index, k, kv, kp)`	Set control gains for the rotation motor (k, kv, kp)	`index: int`^[1] `k: float` `kv: float` `kp: float`	None
`get_rotation_gain(index)`	Get control gains for the rotation motor (k, kv, kp)	`index: int`^[1]	`dict` `{'k', 'kv', 'kp'}`
`set_rotation_controller_type(val)`	set control type for rotation motor 0: HINFPID_CONTROLLER (default) 1: SIMPLEPID_POS_CONTROLLER 2: SIMPLEPID_VEL_CONTROLLER	`int`	None
`set_rotation_interpolator(val)`	set interpolator type for rotation motor 0: Ramp interpolator (default) 1: Streaming interpolator	`int`	None
`moby.set_rotation_vel_acc(vel, acc)`	Set maximum rotation velocity and acceleration	`vel:float` `acc:float`	None
`set_drive_interpolator_on_off(on)`	Set activate/deactivate interpolator for drive wheels	`bool`	None
`set_drive_acc_dec(acc, dec)`	Set maximum driving acceleration and deceleration	`acc:float dec:float`	None
`set_kinematics_forced(activate, angle)`	Set Kinematics Forced activate: allow infinite steering angle: steering error limit to allow wheel driving	`activate:bool angle:float`	None
`get_kinematics_forced()`	Get Kinematics Forced activate: allow infinite steering angle: steering error limit to allow wheel driving	None	`activate:bool angle:float`

^{[1]: index : 1-Front Left, 2-Front Right, 3-Back Left, 4-Back Right</}

사용 예시는 다음과 같습니다

# Get/Set Rotation Control Gain
print("Control Gain: ", moby.get_rotation_gain(0))
moby.set_rotation_gain(index=0, k=4000, kv=2000, kp=300)

# Set Rotation Interpolator Parameters
moby.set_rotation_interpolator(val=0)
moby.set_rotation_controller_type(val=0)
moby.set_rotation_vel_acc(vel=1.884, acc=942.0)

# Set Driving Interpolator Parameters
moby.set_drive_interpolator_on_off(on=True)
moby.set_drive_acc_dec(acc = 0.01, dec = 0.01)

moby.set_kinematics_forced(activate=True, angle=5.0)

출력:

Control Gain: {k: 4000.0, kv: 2000.0, kp: 300.0}

이 예제는 Control 및 Interpolator의 파라미터를 성정하는 방법을 보여줍니다.

예제에 설정된 파라미터는 로봇에 설정되어있는 기본 파라미터로, 값을 조금씩 바꿔가며 성능의 변화를 확인할 수 있습니다.

Real Time Logger

Command	Description
`start_rt_logging()`	Start to gather Moby data
`end_rt_logging()`	Save data and Stop logging

start_rt_logging()를 사용하여 Moby의 주행관련 데이터를 기록하고, end_rt_logging()를 사용하여 기록을 종료 및 기록 파일을 생성합니다.

다음은 RT Log 명령어 예시입니다..

moby.start_rt_logging()

# robot driving

moby.end_rt_logging()

기록 파일은 '~/release/IndyDeployment/MobyRTLog'의 경로에 .csv 형태의 파일로 저장됩니다.

저장되는 데이터는 다음과 같습니다.

0 : record time
rotation motor [fl, fr, bl, br]
- 1, 2, 3, 4 : angle
- 5, 6, 7, 8 : angular velocity
- 9, 10, 11, 12 : torque
- 13, 14, 15, 16 : target angle
- 17, 18, 19, 20 : desired angle
- 21, 22, 23, 24 : desired angular velocity
- 25, 26, 27, 28 : desired angular acceleration
driving wheel [fl, fr, bl, br]
- 29, 30, 31, 32 : linear velocity
- 33, 34, 35, 36 : target linear velocity