Enumeration TopicEventCode

Internal data

Internal data 💾

Data

string

Active map updated

Triggered when active map is updated, boolean returns the information that map images have changed 🗺

Data

boolean

Mapping error

Error occured in mapping mode

Data

MappingErrorEventData

Mapping is started

Mapping is started or not

Data

boolean

Mapping map origin

Under construction map origin

Data

Pose

Mapping vehicle pose

Vehicle pose in under construction map

Data

Pose

Active module

Vehicle active module, false if not active module

Data

false | Module

Active module params

Vehicle active module configuration

Data

ModuleConfiguration

Autopilot current step

Autopilot current config set on vehicle

Data

AutopilotSequence

Autopilot current step

Autopilot current step executed on the vehicle

Data

AutopilotIndexedStep

Autopilot status

Autopilot current status

Data

AutopilotStatusEventData

Autopilot step result

Last autopilot step result

Data

AutopilotStepResultEventData

Docking status

Vehicle docking status docked, undocked or in between state 🔌

Data

DockingState

Current active path

Current path executed by the vehicle

Data

Path

Current areas

Areas's behaviour in which the vehicle is currently located, behaviour of global area if vehicle is not in a specific area

Data

Areas

Current areas Uuid

Area's uuid in which the vehicle is currently located, 0 if vehicle is not in a specific area

Data

number[]

Follow me status

Status of the follow me feature 👣

Data

FollowMeStatusEventData

Movement prohibited

Movement prohibited from module 🚫

Data

boolean

Navigation started

Triggered when navigation status is updated, boolean returns the status of navigation 🧭

Data

boolean

Routes graph obstacles

List of obstacles across the routes

Data

Position[]

Veh to feedback

Feedback on current move order to an element

Data

VehToFeedbackEventData

Vehicle direction

Vehicle direction ↔️

Data

VehicleDirectionEventData

Vehicle pose

Vehicle pose on its map, relevant only if navigation is running 🚗

Data

Pose

Battery state

Battery information with power status and some electrical data 🔋

Data

BatteryState

Critical battery

Critical battery level threshold reached 🪫

Data

boolean

Hibernate

Vehicle in hibernation mode or not

Data

boolean

Operational battery

Operational battery level threshold reached 🔋

Data

boolean

Sleeping

Vehicle in sleeping mode or not

Data

boolean

Ongoing action

Vehicle ongoing action, false if no current action

Data

OngoingAction

Human intervention required

Human intervention required event, human_intervention_required field is set to true if human assistance needed to unlock robot, the others boolean defines which kind of intervention is required 👨🏽‍🔧

Data

HumanInterventionRequired

Mapping feature operational

Wether a mapping can be performed or not

Data

boolean

Safety diagnostic

Diagnostic state with diagnostic error set to true if an error occured, with critical level associated 📋

Data

SafetyDiagnosticEventData

LED command

LED displayed on the vehicle with animation, color, corner animation, etc. 🚥

Data

LedCommand

Maintenance mode on

Maintenance mode is enabled or not 🚧

Data

boolean

Network global state

Network global state 🌐

Data

NetworkGlobalStatus

Network hotspot state

Sent upon vehicle hotspot configuration update 🛜

Data

NetworkStatus

Network wan state

Sent upon WAN configuration update 🌐

Data

NetworkWanState

Sound command

Sound command played by the vehicle, with sample ID, volume and loop count 🔉

Data

SoundCommandEventData

Sound is playing

Sound is playing or not 🔉

Data

boolean

Sound muted

Sound is muted

Data

boolean

Sound scenario

Sound scenario ID 🔉

Data

number

Flash MCU requested

The teensy/pico mcu will be flashed at next reboot

Data

boolean

Flash Roboteq requested

The roboteq motor controller will be flashed at next reboot

Data

boolean

Cycle started

Vehicle cycle has started or not, cycle must be started at each boot before any order

Data

boolean

Freewheel

Vehicle freewheel status

Data

boolean

Lidar points in robot frame

Lidar points in robot frame

Data

Position[]

Lidar points in map

Lidar points in map

Data

Position[]

Lidar markers in map

Markers points in map

Data

Marker[]

Odometer

Vehicle total odometer in meters

Data

number

Odometer since boot

Odometer since last boot in meters

Data

number

Velocity

Vehicle velocity

Data

VelocityEventData

Automatic updates

Automatic updates are enabled or disabled

Data

boolean

Update status

System update information

Data

UpdateStatusEventData