2.2 KiB
curl -k -X POST https://localhost:7002/api/navigation/move_to_order_data
-H "Content-Type: application/json"
-d '{
"x": -2.0,
"y": 0.3,
"yaw": 0.0,
"frame_id": "map",
"xy_tolerance": 0.3,
"yaw_tolerance": 50,
"order": {
"headerId": 1,
"timestamp": "2026-02-28T16:01:25.308Z",
"version": "0.0.1",
"manufacturer": "phenikaaX",
"serialNumber": "T800Fake",
"orderId": "reverse-order",
"orderUpdateId": 1,
"zoneSetId": "maze",
"nodes": [
{ "nodeId": "node2", "sequenceId": 0, "nodeDescription": "Node2", "released": true, "nodePosition": { "x": 1.4, "y": 0.8, "theta": 1.57, "allowedDeviationXY": 0.3, "allowedDeviationTheta": 50, "mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33", "mapDescription": "" }, "actions": [] },
{ "nodeId": "node1", "sequenceId": 1, "nodeDescription": "Node1", "released": true, "nodePosition": { "x": 0.0, "y": 0.3, "theta": 0.0, "allowedDeviationXY": 0.3, "allowedDeviationTheta": 50, "mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33", "mapDescription": "" }, "actions": [] },
{ "nodeId": "node0", "sequenceId": 2, "nodeDescription": "Node0", "released": true, "nodePosition": { "x": -2.0, "y": 0.3, "theta": 0.0, "allowedDeviationXY": 0, "allowedDeviationTheta": 0, "mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33", "mapDescription": "" }, "actions": [] }
],
"edges": [
{ "edgeId": "edge1-rev", "sequenceId": 0, "edgeDescription": "node2-node1", "released": true, "startNodeId": "node2", "endNodeId": "node1", "maxSpeed": 0.5, "direction": "Both", "rotationAllowed": true, "maxRotationSpeed": 0.5, "trajectory": { "degree": 2, "knotVector": [0,0,0,1,1,1], "controlPoints": [ {"x": 1.4, "y": 0.8, "weight": 1.0}, {"x": 0.7, "y": 0.3, "weight": 0.707}, {"x": 0.0, "y": 0.3, "weight": 1.0} ] }, "actions": [] },
{ "edgeId": "edge0-rev", "sequenceId": 1, "edgeDescription": "node1-node0", "released": true, "startNodeId": "node1", "endNodeId": "node0", "maxSpeed": 0.5, "direction": "Both", "rotationAllowed": true, "maxRotationSpeed": 0.5, "trajectory": { "degree": 1, "knotVector": [0,0,1,1], "controlPoints": [ {"x": 0.0, "y": 0.3, "weight": 1}, {"x": -2.0, "y": 0.3, "weight": 1} ] }, "actions": [] }
]
} }'