7. Detailed Interface Documentation

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

1. The header field in HTTP JSON RPC request and response messages is not explained in detail. Some headers are omitted in example messages, and you may also omit them in actual requests. Refer to the runnable example scripts.
2. The URL IP in HTTP JSON RPC is always set to 10.42.10.10 or 10.42.10.12, corresponding to the MDU controller IP and HDU controller IP, respectively.
3. All HTTP JSON RPC request methods are POST and are not listed separately in the interface documentation below.
4. For the message type column in ROS2 Topic: if it is an input parameter, the secondary development program publishes the topic and the onboard program receives it; if it is an output parameter, the opposite applies.
5. The message type for some ROS2 Topic interfaces is ros2_plugin_proto/msg/RosMsgWrapper. You need to use the precompiled ROS initialization script in the aimDK SDK, with the command: source prebuilt/ros2_plugin_proto_aarch64/share/ros2_plugin_proto/local_setup.bash
6. Parameters not explained are generally invalid parameters. Just fill in the default value as shown in the example without modification.
7. If the unit is not specified, the default is radians for angles and meters for lengths.