SendFollowCommand

Unary 请求 → Server Stream 响应。START 前请先 GetCapabilities / GetActiveTask；Stream 以末帧 ack.final=true 结束。

9.1 方法签名

rpc SendFollowCommand(FollowCommandRequest)
    returns (stream FollowCommandResponse);

9.2 Proto 定义

源文件：autonomy/bridge/proto/external_command_service.proto

enum FollowMode {
  FOLLOW_MODE_UNSPECIFIED = 0;
  FOLLOW_MODE_PERSON = 1;
  FOLLOW_MODE_TARGET_POSE = 2;
  FOLLOW_MODE_TARGET_ID = 3;
}

enum FollowCommand {
  FOLLOW_CMD_UNSPECIFIED = 0;
  FOLLOW_CMD_START = 1;
  FOLLOW_CMD_STOP = 2;
  FOLLOW_CMD_PAUSE = 3;
  FOLLOW_CMD_RESUME = 4;
  FOLLOW_CMD_CANCEL = 5;
  FOLLOW_CMD_UPDATE_TARGET = 6;
}

enum FollowStatus {
  FOLLOW_STATUS_UNKNOWN = 0;
  FOLLOW_STATUS_IDLE = 1;
  FOLLOW_STATUS_FOLLOWING = 2;
  FOLLOW_STATUS_PAUSED = 3;
  FOLLOW_STATUS_TARGET_LOST = 4;
  FOLLOW_STATUS_SUCCEEDED = 5;
  FOLLOW_STATUS_FAILED = 6;
  FOLLOW_STATUS_CANCELED = 7;
}

message FollowCommandRequest {
  RequestHeader header = 1;
  FollowCommand command = 2;
  FollowMode mode = 3;
  float follow_distance = 4;
  float follow_angle = 5;
  float session_timeout_sec = 6;
  bool reacquire_on_lost = 7;
  oneof target {
    commsgs.proto.geometry_msgs.PoseStamped target_pose = 8;
    string target_id = 9;
  }
}

message FollowCommandResponse {
  CommandAck ack = 1;
  FollowStatus status = 2;
  float distance_to_target = 3;
  commsgs.proto.geometry_msgs.PoseStamped target_pose = 4;
}

9.3 字段说明

Request · `FollowCommandRequest`

字段	类型	必填	说明
`header`	`RequestHeader`	✓	03 §3.1
`command`	`FollowCommand`	✓	子命令；见下表
`mode`	`FollowMode`	START	`1` 人体 · `2` 目标位姿 · `3` 目标 ID
`follow_distance`	`float`	—	跟随距离 (m)
`follow_angle`	`float`	—	跟随角度 (rad)
`session_timeout_sec`	`float`	—	会话超时 (s)
`reacquire_on_lost`	`bool`	—	目标丢失后是否重捕获
`target_pose`	`PoseStamped`	`mode=2`	`oneof target`
`target_id`	`string`	`mode=3`	`oneof target`

FollowCommand 枚举

值	常量	说明
1	`FOLLOW_CMD_START`	开始；需 `mode`（及 `target`）
2	`FOLLOW_CMD_STOP`	停止 → `IDLE`
3	`FOLLOW_CMD_PAUSE`	暂停
4	`FOLLOW_CMD_RESUME`	从 `PAUSED` 恢复
5	`FOLLOW_CMD_CANCEL`	取消任务
6	`FOLLOW_CMD_UPDATE_TARGET`	跟随中更新目标

Response · `FollowCommandResponse`

字段	类型	说明
`ack`	`CommandAck`	流应答；末帧 `final=true` · 03 §3.2
`status`	`FollowStatus`	跟随阶段
`distance_to_target`	`float`	与目标距离 (m)
`target_pose`	`PoseStamped`	当前目标位姿

FollowStatus：IDLE(1) · FOLLOWING(2) · PAUSED(3) · TARGET_LOST(4) · SUCCEEDED(5) · FAILED(6) · CANCELED(7)

        %%{init: {"theme":"base","themeVariables":{"fontSize":"12px","primaryColor":"#e0f2f2","primaryTextColor":"#1a4d6e","primaryBorderColor":"#2d9294","lineColor":"#5a7289","stateBkg":"#e0f2f2","stateBorder":"#2d9294","stateLabelColor":"#1a4d6e","edgeLabelBackground":"#ffffff","labelTextColor":"#455a64"},"state":{"nodeSpacing":18,"rankSpacing":22,"padding":6,"fontSize":12}}}%%
stateDiagram-v2
    direction TB
    [*] --> IDLE
    IDLE --> FOLLOWING: START
    FOLLOWING --> PAUSED: PAUSE
    PAUSED --> FOLLOWING: RESUME
    FOLLOWING --> TARGET_LOST: 丢失
    TARGET_LOST --> FOLLOWING: 重捕获
    FOLLOWING --> IDLE: STOP
    PAUSED --> IDLE: STOP
    FOLLOWING --> SUCCEEDED
    FOLLOWING --> FAILED
    FOLLOWING --> CANCELED: CANCEL
    SUCCEEDED --> [*]
    FAILED --> [*]
    CANCELED --> [*]

    classDef idle fill:#f5f7fa,stroke:#78909c,color:#455a64
    classDef active fill:#e3f2fd,stroke:#1565c0,color:#0d47a1
    classDef pause fill:#fff8e1,stroke:#fb8c00,color:#e65100
    classDef warn fill:#fff3e0,stroke:#ef6c00,color:#e65100
    classDef ok fill:#e8f5e9,stroke:#43a047,color:#2e7d32
    classDef fail fill:#ffebee,stroke:#e53935,color:#c62828
    classDef cancel fill:#eceff1,stroke:#607d8b,color:#546e7a
    class IDLE idle
    class FOLLOWING active
    class PAUSED pause
    class TARGET_LOST warn
    class SUCCEEDED ok
    class FAILED fail
    class CANCELED cancel

9.4 示例（grpcurl）

环境：01 §1.1 · TC 全集：13 §13.8 · JSON 参考：01 §1.4

每张卡片上方 发送指令（蓝）、下方 收到结果（绿）；Stream 响应以末帧 ack.final=true 为准。

9.4.1 示例索引

编号	在干什么	`command`	末帧预期	TC
FOL-01	确认可跟随、无残留任务	—	可跟随 · 无活跃任务	—
FOL-02	人体跟随	1	`FOLLOWING`	`TC-FOL-001`
FOL-03	目标位姿跟随	1	`FOLLOWING` · 距离≈设定	`TC-FOL-002`
FOL-04	暂停跟随	3	`PAUSED`	—
FOL-05	暂停后恢复	4	`FOLLOWING`	—
FOL-06	跟随中更新目标	6	`FOLLOWING` · `targetPose` 变	`TC-FOL-003`
FOL-07	取消任务	5	`CANCELED`	—

STOP(2) 请求体同 NAV-08，末帧 FOLLOW_STATUS_IDLE。

9.4.2 FOL-01 · 前置检查

发 START 前确认：Bridge 支持跟随，且当前无进行中的任务。

GetCapabilities + GetActiveTask 可跟随 · 无活跃任务

发送指令

# FOL-01 · GetCapabilities + GetActiveTask
grpcurl -plaintext $PROTO_OPTS -d '{}' $BRIDGE $SVC/GetCapabilities
grpcurl -plaintext $PROTO_OPTS -d '{}' $BRIDGE $SVC/GetActiveTask

收到结果

{ "supportsFollow": true }
{ "type": "TASK_TYPE_NONE" }

9.4.3 启动

9.4.3.1 FOL-02 · START 行人

mode=1：跟踪检测到的人体，保持 follow_distance 间距。

command 1 · mode 1 FOLLOW_STATUS_FOLLOWING

发送指令

# FOL-02 · START(1) mode=1
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendFollowCommand <<EOF
{
  "header": {
    "cmd_id": "${CMD_ID}"
  },
  "command": 1,
  "mode": 1,
  "follow_distance": 1.5,
  "reacquire_on_lost": true
}
EOF

收到结果 · 流中帧

{
  "status": "FOLLOW_STATUS_FOLLOWING",
  "distanceToTarget": 1.48,
  "ack": { "success": true, "final": false }
}

9.4.3.2 FOL-03 · START 目标位姿

mode=2：跟随地图中指定 target_pose，适合虚拟目标或预置航点。

command 1 · mode 2 FOLLOWING

发送指令

# FOL-03 · START(1) mode=2
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendFollowCommand <<EOF
{
  "header": {
    "cmd_id": "${CMD_ID}"
  },
  "command": 1,
  "mode": 2,
  "follow_distance": 2.0,
  "target_pose": {
    "header": {
      "frame_id": "map"
    },
    "pose": {
      "position": {
        "x": 5,
        "y": 3
      },
      "orientation": {
        "w": 1.0
      }
    }
  }
}
EOF

收到结果 · 流中帧

{
  "status": "FOLLOW_STATUS_FOLLOWING",
  "distanceToTarget": 1.95,
  "targetPose": {
    "header": { "frameId": "map" },
    "pose": { "position": { "x": 5.0, "y": 3.0 } }
  }
}

9.4.4 运行控制

9.4.4.1 FOL-04 · PAUSE

暂停跟随（机器人停住，任务保持 PAUSED）。

前提：FOL-02/03 已 START · 另开终端发送。

command 3 PAUSE 跟随已暂停

发送指令

# FOL-04 · PAUSE(3)
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendFollowCommand <<EOF
{
  "header": { "cmd_id": "${CMD_ID}" },
  "command": 3
}
EOF

收到结果 · 末帧

{
  "ack": { "success": true, "final": true, "taskStatus": "TASK_STATUS_PAUSED" },
  "status": "FOLLOW_STATUS_PAUSED"
}

9.4.4.2 FOL-05 · RESUME

从暂停恢复跟随。

前提：紧接 FOL-04 PAUSE 之后发送。

command 4 RESUME 恢复跟随

发送指令

# FOL-05 · RESUME(4)
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendFollowCommand <<EOF
{
  "header": { "cmd_id": "${CMD_ID}" },
  "command": 4
}
EOF

收到结果 · 流中帧

{
  "status": "FOLLOW_STATUS_FOLLOWING",
  "ack": { "success": true, "final": false }
}

9.4.4.3 FOL-06 · UPDATE_TARGET

前提：已有进行中的跟随任务（FOLLOWING）。动态更新目标位姿，状态保持 FOLLOWING。

command 6 UPDATE_TARGET 跟随进行中 FOLLOWING · targetPose 更新

发送指令

# FOL-06 · UPDATE_TARGET(6)
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendFollowCommand <<EOF
{
  "header": {
    "cmd_id": "${CMD_ID}"
  },
  "command": 6,
  "mode": 2,
  "target_pose": {
    "header": { "frame_id": "map" },
    "pose": { "position": { "x": 8.0, "y": 4.0 } }
  }
}
EOF

收到结果 · 流中帧

{
  "status": "FOLLOW_STATUS_FOLLOWING",
  "targetPose": {
    "pose": { "position": { "x": 8.0, "y": 4.0 } }
  },
  "ack": { "success": true, "final": false }
}

9.4.5 结束

9.4.5.1 FOL-07 · CANCEL

取消当前跟随任务，释放任务槽，状态变为 CANCELED。

command 5 CANCEL 任务已取消

发送指令

# FOL-07 · CANCEL(5)
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendFollowCommand <<EOF
{
  "header": { "cmd_id": "${CMD_ID}" },
  "command": 5
}
EOF

收到结果 · 末帧

{
  "ack": { "success": true, "final": true, "taskStatus": "TASK_STATUS_CANCELED" },
  "status": "FOLLOW_STATUS_CANCELED"
}

目标丢失（TARGET_LOST）场景见 13 §13.8 TC-FOL-004。

SendFollowCommand

9.1 方法签名

9.2 Proto 定义

9.3 字段说明

Request · FollowCommandRequest

Response · FollowCommandResponse

9.4 示例（grpcurl）

9.4.1 示例索引

9.4.2 FOL-01 · 前置检查

9.4.3 启动

9.4.3.1 FOL-02 · START 行人

9.4.3.2 FOL-03 · START 目标位姿

9.4.4 运行控制

9.4.4.1 FOL-04 · PAUSE

9.4.4.2 FOL-05 · RESUME

9.4.4.3 FOL-06 · UPDATE_TARGET

9.4.5 结束

9.4.5.1 FOL-07 · CANCEL

Request · `FollowCommandRequest`

Response · `FollowCommandResponse`