Tbot 3Dナビシャーシ SDK 開発ドキュメント

rosbridge WebSocket ベース、ROS環境不要でクロス言語制御。各 Topic / Service のリクエスト・レスポンス項目（型＋説明）を完全掲載。

1. プロトコル概要

2. Topic購読（シャーシ → アプリ）

購読します。受信メッセージは msg フィールドにあります。

3. Service一覧

2.1 ロボット位置 nav_msgs/Odometry

シャーシが現在の姿勢を定期的に送信します。

{
  "pose": { "pose": {
    "position": {"x": 1.23, "y": 4.56, "z": 0.0},
    "orientation": {"x": 0, "y": 0, "z": 0.5, "w": 0.866}
  }}
}

2.2 グローバルパス nav_msgs/Path

ナビ開始後約5秒ごとに計5回送信（約30秒）。

{ "poses": [
  {"pose":{"position":{"x":0,"y":0,"z":0}}},
  {"pose":{"position":{"x":1,"y":2,"z":0}}}
]}

2.3 マップリスト kitty_runtime_manager/MapList

購読後、全マップと保存済みウェイポイントを返します。

{ "maps": [
  {"map_name":"Lobby","map_path":"/maps/floor1",
   "goals":[
     {"name":"Reception","x":1.0,"y":2.0,"theta":0.5},
     {"name":"Elevator","x":3.0,"y":4.0,"theta":1.2}
   ]}
]}

2.4 ナビ状態 std_msgs/Float64MultiArray

Topic：/ebot_goal_status_local_planner。

2.5 バッテリー・充電状態 std_msgs/Float64MultiArray

Topic：/ebot_work_state。

3.1 マッピング開始 std_srvs/Trigger

サービス：/start_mapping_kitty

{}

{ "success": true, "message": "Mapping started" }

3.2 マップ保存 kitty_runtime_manager/SaveMap

サービス：/save_map_kitty

{ "filepath": "map_name" }

{ "success": true, "message": "Map saved" }

3.3 マップ選択＆ナビ開始 kitty_runtime_manager/SaveMap

サービス：/select_map_and_start_kitty

{ "filepath": "map_name" }

{ "success": true, "message": "Map selected and navigation started" }

3.4 マップ削除 kitty_runtime_manager/DeleteMap

サービス：/delete_map_kitty

{ "map_name": "map_name" }

{ "success": true, "message": "Deleted successfully" }

3.5 充電ドックへ std_srvs/Trigger

サービス：/docking_kitty

{}

{ "success": true, "message": "Docking started" }

3.6 指定位置へナビ nav_msgs/GetPlan

サービス：/navigate_to_pose

{
  "goal": { "pose": { "position": { "x": 1.0, "y": 2.0, "z": 0.0 } } }
}

{ "plan": { "poses": [
  {"pose":{"position":{"x":0,"y":0,"z":0}}},
  {"pose":{"position":{"x":1,"y":2,"z":0}}}
]}}

3.7 ナビキャンセル nav_msgs/GetPlan

サービス：/navigate_to_pose（（ナビと同じService、特殊座標でキャンセル））

{
  "goal": { "pose": { "position": { "x": 999999, "y": 888888, "z": 0 } } }
}

{ "plan": { "poses": [] } }

3.8 ウェイポイント追加 kitty_runtime_manager/AddGoal

サービス：/add_goal_kitty

{
  "map_name": "Lobby",
  "goal_name": "Reception",
  "x": 1.0, "y": 2.0, "theta": 0.5
}

{ "success": true, "message": "Added successfully" }

3.9 ウェイポイント削除 kitty_runtime_manager/DeleteGoal

サービス：/delete_goal_kitty

{ "map_name": "Lobby", "goal_name": "Reception" }

{ "success": true, "message": "Deleted successfully" }

4. マルチ言語開発例

各言語は簡単な例を表示。「完全なコードを表示」で全5 Topic + 9 Service の完全版を展開します。

4.1 Python（roslibpy）完全なコードを表示（全API）

依存関係：pip install roslibpy

import roslibpy, time
client = roslibpy.Ros(host='192.168.1.151', port=9090)
client.run()

# Subscribe to battery state
roslibpy.Topic(client,'/ebot_work_state','std_msgs/Float64MultiArray').subscribe(
    lambda m: print(f"Battery {m['data'][1]}% charging={m['data'][0]==1}"))
# Dock to charger
roslibpy.Service(client,'/docking_kitty','std_srvs/Trigger').call(roslibpy.ServiceRequest(),
    callback=lambda r: print("Docking:", r['message']))
try:
    while True: time.sleep(1)
except KeyboardInterrupt: client.terminate()

import roslibpy, time, math
client = roslibpy.Ros(host='192.168.1.151', port=9090)
client.run()

# ===== Subscribe to all 5 Topics =====
# 1) Localization
def on_odom(m):
    p = m['pose']['pose']['position']; o = m['pose']['pose']['orientation']
    yaw = math.atan2(2*(o['w']*o['z']+o['x']*o['y']), 1-2*(o['z']**2+o['y']**2))
    print(f"[Pose] x={p['x']:.2f} y={p['y']:.2f} yaw={math.degrees(yaw):.1f}°")
roslibpy.Topic(client,'/fast_lio_localization','nav_msgs/Odometry').subscribe(on_odom)
# 2) Global path
roslibpy.Topic(client,'/aft_pgo_path','nav_msgs/Path').subscribe(
    lambda m: print(f"[Path] {len(m['poses'])}  points"))
# 3) Map list
roslibpy.Topic(client,'/map_list_kitty','kitty_runtime_manager/MapList').subscribe(
    lambda m: [print(f"[Map] {mp['map_name']}  goals:{[g['name'] for g in mp['goals']]}") for mp in m['maps']])
# 4) Navigation status
roslibpy.Topic(client,'/ebot_goal_status_local_planner','std_msgs/Float64MultiArray').subscribe(
    lambda m: m['data'][0]==1 and print("✅ Arrived"))
# 5) Battery
roslibpy.Topic(client,'/ebot_work_state','std_msgs/Float64MultiArray').subscribe(
    lambda m: print(f"[Battery] {m['data'][1]:.0f}% {'Charging' if m['data'][0]==1 else 'Not charging'}"))

# ===== Call all 9 Services =====
def call(svc, args, srv):
    r = roslibpy.Service(client, svc, srv).call(roslibpy.ServiceRequest(args))
    print(f"[SVC] {svc} → {dict(r)}")
time.sleep(1)
call('/start_mapping_kitty', {}, 'std_srvs/Trigger')
call('/save_map_kitty', {'filepath':'test_map'}, 'kitty_runtime_manager/SaveMap')
call('/select_map_and_start_kitty', {'filepath':'test_map'}, 'kitty_runtime_manager/SaveMap')
call('/navigate_to_pose', {'goal':{'pose':{'position':{'x':1.0,'y':2.0,'z':0.0}}}}, 'nav_msgs/GetPlan')
call('/navigate_to_pose', {'goal':{'pose':{'position':{'x':999999,'y':888888,'z':0}}}}, 'nav_msgs/GetPlan')
call('/add_goal_kitty', {'map_name':'test_map','goal_name':'Reception','x':1.0,'y':2.0,'theta':0.5}, 'kitty_runtime_manager/AddGoal')
call('/delete_goal_kitty', {'map_name':'test_map','goal_name':'Reception'}, 'kitty_runtime_manager/DeleteGoal')
call('/docking_kitty', {}, 'std_srvs/Trigger')
call('/delete_map_kitty', {'map_name':'test_map'}, 'kitty_runtime_manager/DeleteMap')

try:
    while True: time.sleep(1)
except KeyboardInterrupt: client.terminate()

4.2 JavaScript / HTML完全なコードを表示（全API）

依存なし、HTML