7. Detailed Interface Documentation

7. Detailed Interface Documentation

To reduce redundancy and increase information density, the following conventions are used in the interface documentation:

1. The header fields in the request and response messages of HTTP JSON RPC are not explained in detail. Some headers are omitted in the example messages, and they can also be left unfilled in actual requests. Refer to the actual runnable examples for guidance.
2. The IP in the HTTP JSON RPC URLs is filled as 127.0.0.1. When actually accessing, it needs to be changed to the IP of the accessible x86 industrial PC.
3. All request methods in HTTP JSON RPC are POST and will not be listed separately in the following interface documentation.
4. In ROS2 Topics, if the message type is an input parameter, the secondary development program publishes the topic, and the onboard program subscribes to it. If it is an output parameter, the opposite is true.
5. Unexplained parameters are generally invalid. Fill in the default values as shown in the examples without modification.
6. For unspecified units, angles are in radians (rad) by default, and lengths are in meters (m) by default.