Choose Development Method
Choose based on the capabilities of the external controller:
- No external controller: Can use Scene Editor to call Lua SDK and Lua API, execute simple control logic inside the robot arm, and set auto-run at boot
- External controller with TCP Socket: Can use Lua Socket Service to call Lua SDK and Lua API
- External controller with HTTP or WebSocket: Can use JSON-RPC Service to control the robot arm
- External controller capable of running SDK: Can use Lebai SDK in some advanced programming languages to control the robot arm
- Controller with ROS: Can use ROS SDK to control the robot arm
- External controller with Modbus-TCP: Can use Modbus TCP to control the robot arm
- Controller with serial functionality: Refer to no-controller development method, use Scene Editor to write a
scenethat receives serial data and set auto-run at boot, execute actions in the scene based on received data. Example code: https://github.com/lebai-robotics/example/blob/main/lua_api/%E4%B8%B2%E5%8F%A3%E6%8E%A7%E5%88%B6.lua - Controller with IO functionality: Refer to no-controller development method, use Scene Editor to write a
scenethat detects IO changes and set auto-run at boot, execute actions in the scene based on IO changes. Example code: https://github.com/lebai-robotics/example/blob/main/lua_api/IO%E5%92%8C%E4%BF%A1%E5%8F%B7%E9%87%8F%E6%8E%A7%E5%88%B6.lua
Development Method Comparison
Comparison of commonly used development methods from application scenarios, feature completeness, and development efficiency dimensions, with a maximum score of 10 for each item
| Development Method | Application Scenarios | Feature Completeness | Development Efficiency |
|---|---|---|---|
| Scene Editor | 10 (Local execution) | 8 | 10 |
| Lua Socket Service | 8 (TCP Socket) | 8 | 9 |
| JSON-RPC Service | 9 (HTTP) | 10 | 5 |
| Lebai SDK | 5 (Some programming languages) | 6 | 8 |
| ROS SDK | 4 (ROS) | 4 | 7 |
| Modbus Slave | 3 (PLC etc.) | 3 | 6 |
Development Recommendations
It is recommended to first learn the Scene Editor method that does not require an external controller, using Lua SDK and Lua API.
It is recommended to handle motion trajectory related logic in the Scene Editor, where the external editor can call specific interfaces to make the robot arm run scenes. Such as API's scene; SDK's start_task; JSON-RPC's start_task;