> ## Documentation Index
> Fetch the complete documentation index at: https://docs.mrdvs.cn/llms.txt
> Use this file to discover all available pages before exploring further.

# V2 视觉定位模块 HTTP 通信协议

> V2 视觉定位模块 HTTP 接口、请求参数和响应格式。

## Retrieve Global Information

### Update Main Program

Request URL

`http://<ip>:9998/tool/rob/quiet_update`

Request Example:

```json theme={null}
{

"url":"http://192.168.2.179:8080/hontai_2.1.20211114.zip"

}
```

### Set Camera height

Request URL `http://<ip>:9998/tool/rob/setHeightRequest` Example：

```json theme={null}
{

"height": 1.3

}
```

Response Example：

```json theme={null}
{

"code":200, "message":"success",

}
```

## Retrieve Global Information

### Get Program Version

Request URL

`http://<ip>:9998/tool/rob/getRobotVersion`

Request Example: omitted

Response Example：

```json theme={null}
{

"code":200, "data":"version 12313", "message":"success"

}
```

### Get Basic Vehicle Information

Request URL

`http://<ip>:9998/tool/rob/getVehicle`

Request Example: omitted

Response Example：

```json theme={null}
{

"code":200, "message":"success", "data":{

"vehicleId":"小车uuid",

"mapId":"当前地图", "vehicleType":"车型"

}

}
```

### Get Map Package From the Host

Request URL

`http://<ip>:9998/tool/rob/getRunMapZip`

Request Parameters:

Content-Type: application/json

|          |            |             |
| -------- | ---------- | ----------- |
| Required | Parameters | Description |
| Yes      | Name       | Map name    |

Response Example：

Returns a file with content-type: application/zip

### GetAGVPose

Request URL

`http://<ip>:9998/tool/rob/getAGVPose`

Request Parameters: none

Response Example：

```json theme={null}
{

    "code": 200,

    "pose": {

        "x": -1.4972912073135376,

        "y": -0.57843643426895142,

        "yaw": 1.6737515926361084

    }

}
```

* 1\. **Relocation(Go Online)**

Request URL

`http://<ip>:9998/tool/rob/relocate`

Request Parameters:

Content-Type: application/json

|          |            |                     |
| -------- | ---------- | ------------------- |
| Required | Parameters | Description         |
| Yes      | x          | X Position (meters) |
| Yes      | y          | Y Position (meters) |
| Yes      | angle      | –                   |
| Yes      | noisyX     | Noisy (meters)      |
| Yes      | noisyY     | Noisy (meters)      |
| Yes      | noisyAngle | Noisy (meters)      |

Request Example: omitted

Response Example：

```json theme={null}
{

"code":200, "message":"success",

}
```

## Map Operations

### Deploy Map

Request URL

`http://<ip>:9998/tool/rob/deployRunMap`

Request Parameters

|          |            |             |
| -------- | ---------- | ----------- |
| Required | Parameters | Description |
| Yes      | id         | Map name    |

Response Example:

```json theme={null}
{

"code":200, "message":"success"

}
```

### Apply Map

Request URL

`http://<ip>:9998/tool/rob/changeCurrentRunMap`

Request Parameters

|          |            |             |
| -------- | ---------- | ----------- |
| Required | Parameters | Description |
| Yes      | name       | Map name    |

Response Example：

```json theme={null}
{

"code":200, "message":"success"

}
```

### Start Mapping

Request URL

`http://<ip>:9998/tool/rob/startMapping`

Request Parameters

|          |            |             |
| -------- | ---------- | ----------- |
| Required | Parameters | Description |
| Yes      | name       | Map name    |

Response Example：

```json theme={null}
{

"code":200, "message":"success"

}
```

### Stop Mapping

Request URL

`http://<ip>:9998/tool/rob/stopMapping`

Request Parameters: none

Response Example：

```json theme={null}
{

"code":200, "message":"success"

}
```

### Start Incremental Mapping

Request URL

`http://<ip>:9998/tool/rob/sendCMD`

Request Example：

```json theme={null}
{

"cmd":904,

"attach":{

"sub_command":0,

"param":"mapname"

}

}
```

Response Example：

```json theme={null}
{

"code":200, "message":"success"

}
```

### Stop Incremental Mapping

Request URL

`http://<ip>:9998/tool/rob/sendCMD`

Request Example：

```json theme={null}
{

"cmd":905,

"attach":{

"sub_command":0,

"param":"mapname"

}

}
```

Response Example：

```json theme={null}
{

"code":200, "message":"success"

}
```

### Get Local Map List (Backend)（获取后台地图列表 ， 不推荐）

Request URL

`http://<ip>:9998/tool/editor/getLocalMaps`

Request Parameters: none

Response Example:

```json theme={null}
{

"code":200, "message":"success", "data":\[

{

"id":"map name1",

"name":"map name1",

},

{

"id":"map name2",

"name":"map name2",

},

\]

}
```

### 获取本机地图列表（推荐）

Request URL

`http://<ip>:9998/tool/rob/getRunMapLists`

Request Parameters: none

Response Example:

```json theme={null}
{

    "code": 200,

    "message": "成功",

    "run_maps": \[

        "chejianceshi",

        "pf",

        "xz9_test9",

        "comm"

    \]

}
```

### Upload Map Package to Camera

Request URL

`http://<ip>:9998/tool/rob/uploadMapZip2RunMaps`

Request Parameters: none

Request Example:

```json theme={null}
{

"url":"http://192.168.2.179:8080/map.zip"

}
```

Response Example：

```json theme={null}
{

"code":200, "message":"success"

}
```

### 下载地图

Request URL

`http://<ip>:9998/tool/rob/downloadVisiomWithLaserMap`

Request Parameters: none

Request Example:

```json theme={null}
{

"url":"http://192.168.2.179:8080/map.zip"

}
```

Response Example：

```json theme={null}
{

"code":200, "message":"success"

}
```

## Operation Interfaces

### Restart Camera Program

Request URL

`http://<ip>:9998/tool/rob/restart`

Request Parameters: none

Response Example:

```json theme={null}
{

"code":200, "message":"success"

}
```

### Reboot Camera

Request URL

`http://<ip>:9998/tool/rob/Reboot`

Request Parameters: none

Response Example:

```json theme={null}
{

"code":200, "message":"success"

}
```