传感器反馈
<p>简要描述:
机器人传感器信息上报</p>
<p><strong>返回示例</strong>
发布话题:/get_sensor_response
返回消息:</p>
<pre><code class="language-json">{
"msg":{
"collide":0,
"button_stop":0,
"sonic_stop":0,
"sonic":[100,100,100,100,100,100]
}
}</code></pre>
<p>返回参数说明</p>
<table>
<thead>
<tr>
<th>参数名</th>
<th>是否必存</th>
<th>类型</th>
<th>内容</th>
<th>说明</th>
</tr>
</thead>
<tbody>
<tr>
<td>collide</td>
<td>是</td>
<td>int</td>
<td>防撞触边状态</td>
<td>0:未触发 1:前触边触发 2:后触边触发 3:前后触边触发</td>
</tr>
<tr>
<td>button_stop</td>
<td>是</td>
<td>string</td>
<td>急停按钮状态</td>
<td>off:正常 on:急停</td>
</tr>
<tr>
<td>sonic_stop</td>
<td>是</td>
<td>int</td>
<td>超声停障状态</td>
<td>0:未触发 x:触发状态</td>
</tr>
<tr>
<td>sonic</td>
<td>是</td>
<td>in[]</td>
<td>超声数据</td>
<td>单位mm</td>
</tr>
</tbody>
</table>