Controlling the Robot:
Chassis Note
The examples/ scripts referenced on this page are obtained through the delivery package provided via official delivery channels; use the delivery package version matching your software version. The paths shown in this document are for illustrating script structure only.
Control Topic Pathways
Chassis control supports two velocity interface pathways. Customer applications MUST select only one as the control entry point; issuing non-zero velocities to both Topics simultaneously is strictly PROHIBITED. The robot currently has web control and teleoperation publishers active; before integration, confirm that no other control source is outputting non-zero velocity.
| Topic Pathway | Message Type | Subscribed Node | Description & QoS Strategy |
|---|---|---|---|
/teleop_cmd_vel(Direct Control Pathway) | geometry_msgs/msg/Twist | rs485_node | • For manual control or teleoperation; rs485_node currently applies S-curve smoothing to this entry.• Units: linear.x (m/s), angular.z (rad/s).• Non-zero velocity MUST be published continuously. |
/cmd_vel(Controlled Example Pathway) | geometry_msgs/msg/Twist | rs485_node | Used for Nav2 and other autonomous navigation, not subject to the same teleoperation smoothing pipeline. |
Safety Red Lines and Operational Prohibitions
- Stopping Procedure: First terminate the current non-zero velocity publisher, then continuously publish zero-velocity
Twist; use/odomto confirm that chassis velocity has returned to zero and the pose is no longer changing. On-site authorized procedures may additionally send/StopMotor; do NOT use/DisEnableMotorfor routine teardown. - Authorization and Pathway Isolation:
safe_chassis.pyoutputs only a controlled round-trip motion strategy by default. Pre-conditions for physical execution include: site cleared, e-stop device triggerable, robot identity verified, fresh and valid/odomodometry data obtained, and the system maintaining a unique velocity control source. - For normal return, timeout, SSH disconnection, and all exception conditions, the system publishes zero velocity and executes standardized stop handling.