V2 Pro UDP communication protocol

V2 Pro exchanges control and localization data with a client over UDP. In the web host application, set portName to the target device IP address and portCode to the listening port. V2 Pro listens on port 8001 for incoming messages.

Message conventions

Item	Convention
Byte order	Big-endian: the high byte precedes the low byte.
Frame structure	Header, length, command, data, and checksum.
Checksum	One byte. XOR all bytes except the header and checksum itself.
Length field	Excludes the header and checksum. Some messages do not contain a length field.
Map name	ASCII letters, digits, and underscores only; the first character must be a letter.

Byte numbering starts at Byte 0. All multi-byte integers use big-endian order.

Messages received by V2 Pro

Odometry

Byte range	Content
Byte 0–1	Header: AC ED
Byte 2	Length: Length
Byte 3	Command: 0x0A
Byte 4–7	V3 V2 V1 V0, 4-byte integer velocity
Byte 8–11	Theta3 Theta2 Theta1 Theta0, 4-byte integer angle
Byte 12	Checksum

Velocity v is in mm/s. Angle theta is in 0.01°; for example, 90° is sent as 9000.

Relocation

Byte range	Content
Byte 0–1	Header: AC ED
Byte 2	Length: Length
Byte 3	Command: 0x02
Byte 4–7	X3 X2 X1 X0, 4-byte integer X coordinate
Byte 8–11	Y3 Y2 Y1 Y0, 4-byte integer Y coordinate
Byte 12–15	Theta3 Theta2 Theta1 Theta0, 4-byte integer angle
Byte 16	Checksum

x and y are in mm. theta is in 0.01°; for example, 90° is sent as 9000.

Start or stop mapping

Byte range	Content
Byte 0–1	Header: AC ED
Byte 2	Length: Length
Byte 3	Command: 0x02
Byte 4	Status: 0x01 starts mapping; 0x00 stops mapping
Byte 5–34	Map name, fixed 30-byte ASCII; pad unused bytes with 0x00
Byte 35	Checksum

Send the start command once per mapping task. Do not send it repeatedly.

Switch maps

Byte range	Content
Byte 0–1	Header: AC ED
Byte 2	Length: Length
Byte 3	Command: 0x0C
Byte 4–33	Map name, fixed 30-byte ASCII; pad unused bytes with 0x00
Byte 34	Checksum

Confirm that the target map has been built before sending the command.

Messages sent by V2 Pro

Localization result

Byte range	Content
Byte 0–1	Header: AC ED
Byte 2	Length: Length
Byte 3	Command: 0x01
Byte 4–7	X3 X2 X1 X0, X coordinate
Byte 8–11	Y3 Y2 Y1 Y0, Y coordinate
Byte 12–15	Theta3 Theta2 Theta1 Theta0, orientation
Byte 16–23	Timestamp7 through Timestamp0, timestamp
Byte 24	Checksum

X and Y are in mm. THETA is in 0.001 rad. After successful relocation, V2 Pro continuously sends this message.

Task result

Start mapping, stop mapping, and switch-map commands return their status in the following message.

Byte	Content
Byte 0–1	Header: AC ED
Byte 2	Length: Length
Byte 3	Command: 0xFF
Byte 4	Task ID
Byte 5	Status: 0x01 success; 0x00 failure
Byte 6	Checksum

Task ID	Operation
0x01	Start mapping
0x02	Stop mapping
0x03	Switch map

Stopping mapping can take time. Completion usually takes about one-third of the data-collection duration. Wait for the task-result message before starting another operation.

Overview

Camera SDK

Camera tools

ROS integration

V2 localization and protocols

V2 Pro UDP communication protocol

Message conventions

Messages received by V2 Pro

Odometry

Relocation

Start or stop mapping

Switch maps

Messages sent by V2 Pro

Localization result

Task result

​Message conventions

​Messages received by V2 Pro

​Odometry

​Relocation

​Start or stop mapping

​Switch maps

​Messages sent by V2 Pro

​Localization result

​Task result

Message conventions

Messages received by V2 Pro

Odometry

Relocation

Start or stop mapping

Switch maps

Messages sent by V2 Pro

Localization result

Task result