123 lines
2.2 KiB
Markdown
123 lines
2.2 KiB
Markdown
curl -k -X POST https://localhost:7002/api/navigation/move_to_order_data \
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-H "Content-Type: application/json" \
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-d '{
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"x": 1.4,
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"y": 0.8,
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"yaw": 1.57,
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"frame_id": "map",
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"xy_tolerance": 0.3,
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"yaw_tolerance": 50,
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"order": {
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"headerId": 1,
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"timestamp": "2026-02-28T16:01:25.308Z",
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"version": "0.0.1",
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"manufacturer": "phenikaaX",
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"serialNumber": "T800Fake",
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"orderId": "c92ec33e-ec04-4521-8255-af8ae46b7f31",
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"orderUpdateId": 1,
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"zoneSetId": "maze",
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"nodes": [
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{
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"nodeId": "node0",
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"sequenceId": 0,
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"nodeDescription": "Node0",
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"released": true,
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"nodePosition": {
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"x": -0.0,
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"y": 0.0,
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"theta": 0.0,
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"allowedDeviationXY": 0,
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"allowedDeviationTheta": 0,
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"mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33",
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"mapDescription": ""
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},
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"actions": []
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},
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{
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"nodeId": "node1",
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"sequenceId": 1,
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"nodeDescription": "Node1",
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"released": true,
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"nodePosition": {
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"x": 0.0,
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"y": 0.0,
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"theta": 0.0,
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"allowedDeviationXY": 0.3,
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"allowedDeviationTheta": 50,
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"mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33",
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"mapDescription": ""
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},
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"actions": []
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},
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{
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"nodeId": "node2",
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"sequenceId": 2,
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"nodeDescription": "Node2",
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"released": true,
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"nodePosition": {
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"x": 0.7,
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"y": 0.0,
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"theta": 1.57,
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"allowedDeviationXY": 0.3,
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"allowedDeviationTheta": 50,
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"mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33",
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"mapDescription": ""
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},
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"actions": []
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}
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],
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"edges": [
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{
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"edgeId": "edge0",
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"sequenceId": 0,
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"edgeDescription": "node0-node1",
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"released": true,
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"startNodeId": "node0",
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"endNodeId": "node1",
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"maxSpeed": 0.5,
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"direction": "Both",
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"rotationAllowed": true,
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"maxRotationSpeed": 0.5,
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"trajectory": {
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"degree": 1,
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"knotVector": [0,0,1,1],
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"controlPoints": [
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{"x": -0.0, "y": 0.0, "weight": 1},
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{"x": 0.0, "y": 0.0, "weight": 1}
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]
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},
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"actions": []
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},
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{
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"edgeId": "edge1",
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"sequenceId": 1,
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"edgeDescription": "node1-node2",
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"released": true,
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"startNodeId": "node1",
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"endNodeId": "node2",
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"maxSpeed": 0.5,
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"direction": "Both",
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"rotationAllowed": true,
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"maxRotationSpeed": 0.5,
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"trajectory": {
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"degree": 2,
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"knotVector": [0,0,0,1,1,1],
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"controlPoints": [
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{"x": 0.0, "y": 0.0, "weight": 1.0},
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{"x": 0.7, "y": 0.0, "weight": 0.707},
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{"x": 1.4, "y": 0.8, "weight": 1.0}
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]
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},
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"actions": []
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}
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]
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}
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}' |