FAQ

Frequently asked questions.

General

Q: What’s the difference between RaisinClient and Direct Network?

A: RaisinClient is an example wrapper class for common use cases. Direct Network uses the raisin_network library directly for more fine-grained control.

RaisinClient: Quick start, simple API
Direct Network: Custom services, advanced features

Q: Can I use it without GPS?

A: Yes. PCD map-based autonomous navigation works without GPS.

// PCD map based (no GPS required)
client.setMap("office.pcd", 0, 0, 0, 0, "office");
Waypoint("office", 5.0, 3.0);  // Map coordinates

GPS requires a GPS module installed on the robot.

Q: Can I control multiple robots simultaneously?

A: Yes. Create separate RaisinClient instances for each robot.

raisin_sdk::RaisinClient client1("controller1");
raisin_sdk::RaisinClient client2("controller2");

client1.connect("robot1_id");
client2.connect("robot2_id");

Waypoints

Q: Why is the Waypoint frame important?

A: The frame specifies the coordinate system. The map_name set in setMap() must match the Waypoint frame for the robot to navigate correctly.

// If map_name = "floor1"
client.setMap("map.pcd", 0, 0, 0, 0, "floor1");

// Waypoint must also use "floor1" frame
Waypoint("floor1", 10.0, 5.0);  // ✓

// Using different frame won't work
Waypoint("map", 10.0, 5.0);     // ✗

Q: How do I set up infinite patrol?

A: Set repetition to 0 or use startPatrol().

// Method 1
client.setWaypoints(waypoints, 0);  // repetition = 0

// Method 2
client.startPatrol(waypoints);

Q: Can I add waypoints during patrol?

A: Yes. Use appendWaypoint().

// Add new waypoint to existing mission
client.appendWaypoint(raisin_sdk::Waypoint("my_map", 15.0, 10.0));

Control

Q: How do I switch between manual and autonomous control?

A: Use setManualControl() and setAutonomousControl().

// Manual control (joystick)
client.setManualControl();

// Autonomous control
client.setAutonomousControl();
client.setWaypoints(waypoints, 1);

Q: How do I emergency stop?

A: Use stopNavigation() to stop autonomous navigation.

// Stop autonomous navigation
client.stopNavigation();

For actual robot emergency stop, use the emergency stop button on the joystick.

Data

Q: What coordinate system is Odometry data in?

A: Map-based coordinates if a map is loaded, otherwise odom coordinates relative to start position.

Q: What is the PointCloud data format?

A: Provided as a vector of Point3D structs.

struct Point3D { float x, y, z; };

client.subscribePointCloud([](const std::vector<raisin_sdk::Point3D>& points) {
    for (const auto& p : points) {
        // Use p.x, p.y, p.z
    }
});

Q: How do I check battery level?

A: Subscribe to battery information using subscribeRobotState().

client.subscribeRobotState([](const raisin_sdk::ExtendedRobotState& state) {
    double percentage = 0.0;
    if (state.max_voltage > state.min_voltage) {
        percentage = (state.voltage - state.min_voltage) /
                    (state.max_voltage - state.min_voltage) * 100.0;
    }
    std::cout << "Battery: " << percentage << "%" << std::endl;
});

Compatibility

Q: Which robots are supported?

A: Supports the Raibo2 platform. Autonomy and Fast-LIO plugins must be loaded.

Q: Can I use it on Windows?

A: Currently only Ubuntu Linux is officially supported. Windows support is under consideration.

Q: Can I use it on ARM64 (Jetson, etc.)?

A: Yes. Both x86_64 and arm64 architectures are supported.