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JetBot

Inherits from: WheeledRobot

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JetBot

JetBot(ip, locomotion_port, camera_port)
Initialize a JetBot robot instance.
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Arguments
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ip (str)
required
IP address of the JetBot.
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locomotion_port (str), optional
defaults to “8040”. Port number for locomotion control. Defaults to “8040”.
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camera_port (str), optional
defaults to “8050”. Port number for camera access. Defaults to “8050”.
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Returns

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getPosition

JetBot.getPosition()
getPosition is not implemented for JetBot

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getOrientation

JetBot.getOrientation()
getOrientation is not implemented for JetBot

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getImage

JetBot.getImage(camera_name: Union[str, None], image_type: Union[str, None])
Return the image of camera. JetBot only has one camera so the arguments are ignored.
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Arguments
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camera_name (optional, Union[str, None])
required
unused, jetbot only has one camera
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image_type (optional, Union[str, None])
required
unused, jetbot only has rgb images
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Returns
Imagerequested image and it capture parameters

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setMotors

JetBot.setMotors(left_speed: float, right_speed: float)
Sets the speed of the motors for the JetBot. These values should be [-1.0, 1.0]
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Arguments
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left_speed (float)
required
Speed of the left motor [-1, 1]
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right_speed (float)
required
Speed of the right motor [-1, 1]
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Returns

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stop

JetBot.stop()
Stops the motors of the JetBot

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setCarControls

JetBot.setCarControls(steering: float, throttle: float, brake: float)
Control the JetBot using ackermann steering. Does not adjust speed, only steering
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Arguments
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steering (float)
required
yaw [-1, 1] radians
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throttle (float), optional
None
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brake (float), optional
None
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Returns

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setCarTargetSpeed

JetBot.setCarTargetSpeed(velocity: float, scaling_factor: float)
Set the speed of the JetBot for Ackermann control. Does not adjust steering
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Arguments
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velocity (float)
required
speed [0, 1]
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scaling_factor (float), optional
Reduce the speed of the jetbot since 1.0 for jetbot is considerably faster than AirGenCar
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Returns
None

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rotate

JetBot.rotate(rate: float, duration: Union[float, None], scaling_factor: float)
Rotate the JetBot in place
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Arguments
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rate (float)
required
Throttle rate to apply during rotation. Positive rotates right, negative rotates left
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duration (optional, Union[float, None])
required
How long to rotate in seconds
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scaling_factor (float), optional
defaults to 8. Scaling factor for the rate to make it behave similar to simulation. Defaults to 8.0
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Returns

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moveByVelocity (inherited)

JetBot.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, duration: float | None)
Move the robot by setting linear and angular velocity.
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Arguments
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linear_velocity (Velocity)
required
VelocityLinear velocity object containing x_vel component
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angular_velocity (Velocity)
required
VelocityAngular velocity object containing z_vel component
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duration (float | None), optional
defaults to None. Optional duration in seconds to move for before stopping. Defaults to None.
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Returns