REST API Usage example§

This page will display some examples on how to use the REST API within SENSR.

How to add a new algo node§

  1. Request to create a new algo node in SENSR. You will get the uid as response.
    (In this example, we are going to add an algo node with 127.0.0.1 ip address.)

    $ curl -X PUT 'http://localhost:9080/settings/node?ip=127.0.0.1'

  2. Get a json table of the newly added node with uid in step 1. 

    $ curl -X GET 'http://localhost:9080/settings/node?node-uri=algo_0000'

  3. Modify json with your desired data

  4. Post the modified json data

    $ curl -X POST 
--header "Content-Type: application/json" 
--data '{ "uid": "algo_0000",
    "ip": "127.0.0.1",
    "name": "localhost",
    "bin": "",
    "rosbag_path": "",
    "username": "",
    "preset": "indoor" }
'http://localhost:9080/settings/node?node-uri=algo_0000'

  5. Request save configs

    $ curl -X POST 'http://localhost:9080/commands/apply-change'

How to delete an algo node§

  1. Request deletion of the node.

    $ curl -X DELETE 'http://localhost:9080/settings/node?node-uri=algo_0000'

  2. Request save configs

    $ curl -X POST 'http://localhost:9080/commands/apply-change'

How to modify an algo node§

  1. Request to update the generic node configs

    $ curl -X POST 
--header "Content-Type: application/json" 
--data '{ "ip": "127.0.0.1",
    "name": "localhost",
    "bin": "",
    "rosbag_path": "",
    "username": "",
    "preset": "indoor",
    "base_to_origin": {
        "tx": 0.0,
        "ty": 0.0
    },
    "sensor_to_base": {
        "tz": 0.0,
        "qw": 1.0,
        "qx": 0.0,
        "qy": 0.0,
        "qz": 0.0
    }}' 
'http://localhost:9080/settings/node?node-uri=algo_0000'

  2. Request save configs

    $ curl -X POST 'http://localhost:9080/commands/apply-change'

How to add a new sensor§

  1. Request to create a new sensor in SENSR. You will get an uid of the newly added sensor in response. 

    $ curl -X PUT 'http://localhost:9080/settings/sensor-ext?&node-uri=algo_0000&sensor-type=lidar'

  2. Get a json table of the newly added sensor with the id in step 1. 

    $ curl -X GET 'http://localhost:9080/settings/sensor-ext?&sensor-id=lidar_0000'

  3. Modify json with your desired data

  4. Post the modified json data(topic must not overlap.)

    $ curl -X POST 
--header "Content-Type: application/json" 
--data '{
    "name": "PointCloud",
    "topic": "/lidar0/velodyne_points",
    "sensor": "ROS Message",
    "stack_capacity": 0,
    "arguments": {},
    "base_to_origin": {
        "tx": -0.08,
        "ty": 3.97
    },
    "sensor_to_base": {
        "tz": 2.15,
        "qw": 0.48,
        "qx": -0.09,
        "qy": -0.03,
        "qz": 0.86
    },
    "detection_radius": 1000.0,
    "use_intensity_filtering": false,
    "minimum_intensity": 0.0
}'
'http://localhost:9080/settings/sensor-ext?sensor-id=lidar_0000'

  5. Request save configs

    $ curl -X POST 'http://localhost:9080/commands/apply-change'

How to delete a sensor§

  1. Request deletion of the sensor.

    $ curl -X DELETE 'http://localhost:9080/settings/sensor-ext?sensor-id=lidar_0000'

  2. Request save configs

    $ curl -X POST 'http://localhost:9080/commands/apply-change'

How to modify a sensor§

  1. Get current sensor config with a specific uid (e.g. lidar_0000)

    $ curl -X GET 'http://localhost:9080/settings/sensor-ext?sensor-id=lidar_0000'

  2. Modify json with your desired data

  3. Request to update the sensor config

    $ curl -X POST 
--header "Content-Type: application/json" 
--data '{
    "name": "PointCloud",
    "topic": "/lidar1/velodyne_points",
    "sensor": "ROS Message",
    "stack_capacity": 0,
    "arguments": {},
    "base_to_origin": {
        "tx": 0.0,
        "ty": 0.0
    },
    "sensor_to_base": {
        "tz": 0.0,
        "qw": 1.0,
        "qx": 0.0,
        "qy": 0.0,
        "qz": 0.0
    },
    "detection_radius": 1000.0,
    "use_intensity_filtering": false,
    "minimum_intensity": 0.0
}'
'http://localhost:9080/settings/sensor-ext?sensor-id=lidar_0000''

  4. Request save configs

    $ curl -X POST 'http://localhost:9080/commands/apply-change'

How to add a new zone§

  1. Request to create a new zone in SENSR. You will get an id of the newly added zone in response. 

    $ curl -X PUT 'http://localhost:9080/settings/zone'

  2. Get a json table of the newly added zone with the id in step 1. 

    $ curl -X GET 'http://localhost:9080/settings/zone?zone-id=1001'

  3. Modify json with your desired data

  4. Post the modified json data to SENSR using zone id.(id must not overlap.)

    $ curl -X POST 
--header "Content-Type: application/json" 
--data '{
    "id": 1001,
    "name": "zone-1001",
    "zone_type": 1,
    "speed_limit": 27.77,
    "loitering_threshold": 0,
    "min_z": 0.0,
    "max_z": 2.5,
    "vertices": [
        [
            -4.04,
            5.27
        ],
        [
            -3.68,
            3.32
        ],
        [
            -5.65,
            3.02
        ],
        [
            -5.96,
            4.85
        ]
    ]
}' 
'http://localhost:9080/settings/zone?zone-id=1001'

  5. Request save configs

    $ curl -X POST 'http://localhost:9080/commands/apply-change'

How to delete a zone§

  1. Request deletion of the zone and save configs.

    $ curl -X DELETE 'http://localhost:9080/settings/zone?zone-id=1001'

  2. Request save configs

    $ curl -X POST 'http://localhost:9080/commands/apply-change'

How to modify zone§

  1. Get current zone config with a specific sensor-id (e.g. 1001)

    $ curl -X GET 'http://localhost:9080/settings/zone?zone-id=1001'

  2. Modify json with your desired data

  3. Request to update the sensor config

    $ curl -X POST 
--header "Content-Type: application/json" 
--data '{
    "id": 1001,
    "name": "zone-1001",
    "zone_type": 1,
    "speed_limit": 27.77,
    "loitering_threshold": 0,
    "min_z": 0.0,
    "max_z": 2.5,
    "vertices": [
        [
            8.95,
            -21.91
        ],
        [
            -13.30,
            -25.27
        ],
        [
            -12.95,
            -4.06
        ],
        [
            16.37,
            5.74
        ],
        [
            9.58,
            -21.35
        ]
    ]
}'
'http://localhost:9080/settings/zone?zone-id=1001''

  4. Request save configs

    $ curl -X POST 'http://localhost:9080/commands/apply-change'