SmartRobotinoMasterRPCBridge

REST API

SmartRobotinoMasterRPCBridge listens at port 8153 for incoming connections to its REST API.

GET methods

/localizationMap

Returns the current localization map as PNG image with resolution information.

PNG Header | PNG Data | 00 | JSON Data

JSON Data:
rootObj["datasize"] = mapData.size();
rootObj["width"] = width;
rootObj["height"] = height;
rootObj["resolution"] = resolution;
rootObj["offsetx"] = offsetx;
rootObj["offsety"] = offsety;

/navigationMap

Returns the current navigation map as PNG image with resolution information. See localizationMap.

/map-preview

Returns a preview image as PNG of map file name.

http://127.0.0.1:8153/map-preview?name:NewMap

/data/mclayout

The example shows e path network with two pathes (path 1 and path 2). Each path contains 3 nodes. id 0,1,2 are the nodes of path 1 and id 3,4,5 the nodes of path 2.

{
    "DATA": [
        {
            "id": 0,
            "path": 1,
            "pose": 0,
            "x": -1.77,
            "y": 2.22
        },
        {
            "id": 1,
            "path": 1,
            "pose": 0,
            "x": -0.03,
            "y": 1.65
        },
        {
            "id": 2,
            "path": 1,
            "pose": 0,
            "x": 1.64,
            "y": 0.2
        },
        {
            "id": 3,
            "path": 2,
            "pose": 0,
            "x": -2.39,
            "y": -1.73
        },
        {
            "id": 4,
            "path": 2,
            "pose": 0,
            "x": -1.11,
            "y": -1.88
        },
        {
            "id": 5,
            "path": 2,
            "pose": 0,
            "x": 0.34,
            "y": -1.65
        }
    ]
}

/data/pathnetwork

XML representation of the path network. Example shows two pathes each of which contains 3 nodes.

<root>
 <paths>
  <path width="1" direction="1" id="1">
   <nodes>
    <node id="1">
     <x>-1.77</x>
     <y>2.22</y>
    </node>
    <node id="2">
     <x>-0.03</x>
     <y>1.65</y>
    </node>
    <node id="3">
     <x>1.64</x>
     <y>0.2</y>
    </node>
   </nodes>
  </path>
  <path width="1" direction="1" id="2">
   <nodes>
    <node id="1">
     <x>-2.39</x>
     <y>-1.73</y>
    </node>
    <node id="2">
     <x>-1.11</x>
     <y>-1.88</y>
    </node>
    <node id="3">
     <x>0.34</x>
     <y>-1.65</y>
    </node>
   </nodes>
  </path>
 </paths>
 <areas/>
</root>