Applied Robotics Avia API for ARA MINI, ARA EDU and ARA FPV drones

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  • License: MIT License
  • Author: Alexander Kleimenov
  • Maintainer: Alexander Kleimenov
  • Tags robotics , drones , API , ARA
  • Requires: Python >=3.8
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Project description

ARA API (УСТАРЕЛО)

// TODO: обновить документацию

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Applied Robotics Avia API — это современный API для управления линейкой дронов и самолетов компании Applied Robotics Avia, а также для работы с симулятором AgroTechSim.

📖 Описание

Данный проект предлагает единый интерфейс для управления, анализа и автоматизации полетов. ara-api сочетает простоту использования, высокую производительность и поддержку множества языков программирования.

Основные особенности:

  1. Экранирование работы от конечного пользователя.
  2. Интегрированная документация, загружаемая вместе с API.
  3. Высокая скорость работы благодаря использованию HTTP/2 и gRPC.
  4. Простота запуска и настройки.
  5. Поддержка анализаторов для выполнения лабораторных работ.
  6. Предохранительные меры для безопасности автономных полетов.

🌟 Возможности

  • Мульти-языковая поддержка: Автономное управление доступно на следующих языках: C#/.NET, C++, Dart, Go, Java, Kotlin, Node.js, Objective-C, PHP, Python, Ruby.
  • Протокол gRPC: используется как внутри приложения, так и для внешнего взаимодействия.
  • Данные с полетного контроллера: чтение одометрии, ориентации, IMU, оптического потока и дальномера.
  • Встроенный анализатор: запись и анализ логов, а также два режима запуска анализатора - online и offline.
  • Библиотека работы с камерой: анализ изображения и получение готовых значений(QR-code, Aruco, Blob)

🚀 Установка проекта

foo@bar: pip3 install ara-api

📚 Использование

Терминал

  1. Запуск ядра API:
foo@bar:~$ ara-api-core
  1. Запуск анализатора:
foo@bar:~$ ara-api-analyzer
  1. Запуск пакета для работы с камерой:
foo@bar:~$ ara-api-vision

⚠️Важно!!! Перед началом использования удостоверьтесь, что ваш дрон обновлен до самой актуальной версии

Вызов документации по использованию команд:

  1. Запуск ядра API:
foo@bar:~$ ara-api-core --help
  1. Запуск анализатора:
foo@bar:~$ ara-api-analyzer --help
  1. Запуск пакета для работы с камерой:
foo@bar:~$ ara-api-vision --help

🧩Функции библиотеки ara_core

takeoff(altitude)

Вызывает сервис взлёта.

  • Параметры:
    • altitude (float): Высота, на которую нужно подняться.
  • Возвращает:
    • str: Статус операции взлёта.

land()

Вызывает сервис посадки.

  • Возвращает:
    • str: Статус операции посадки.

move_by_point(x, y)

Вызывает сервис перемещения.

  • Параметры:
    • x (float): Координата X точки, в которую нужно переместиться.
    • y (float): Координата Y точки, в которую нужно переместиться.
  • Возвращает:
    • str: Статус операции перемещения.

change_altitude(altitude)

Вызывает сервис изменения высоты.

  • Параметры:
    • altitude (float): значение высоты в метрах, на которую нужно переместиться.
  • Возвращает:
    • str: Статус операции перемещения.

set_velocity(vx, vy)

Вызывает сервис задания скорости.

  • Параметры:
    • vx (float): Скорость дрона по X.
    • vy (float): Скорость дрона по Y.
  • Возвращает:
    • str: Статус операции перемещения.

reset_velocity_state()

Вызывает сервис перемещения

  • Возвращает:
    • str: Статус операции перемещения.

get_imu_data()

Получает данные IMU (инерциального измерительного устройства) от сервиса драйвера.

  • Возвращает:
    • dict: Словарь с данными гироскопа и акселерометра.

get_attitude_data()

Получает данные ориентации от сервиса драйвера.

  • Возвращает:
    • dict: Словарь с данными об углах ориентации.

get_odometry_data()

Получает данные одометрии от сервиса драйвера.

  • Возвращает:
    • dict: Словарь с данными о положении и скорости.

get_optical_flow_data()

Получает данные оптического потока от сервиса драйвера.

  • Возвращает:
    • dict: Словарь с данными об оптическом потоке.

Project details

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  • License: MIT License
  • Author: Alexander Kleimenov
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  • Tags robotics , drones , API , ARA
  • Requires: Python >=3.8
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