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Map Telemetry

Goal: Publish your robot's telemetry on the local Zenoh Cap'n Proto topics the agent ingests, so motion and status data reach the cloud.

Before you begin

  • The agent is installed and enrolled (see Install the Agent).
  • You can run a Zenoh publisher on the robot (in the same Zenoh session/network the agent uses).
  • The Cap'n Proto message schema for telemetry. Schema distribution details are coming soon; to obtain the schema, contact [email protected].

How telemetry flows

robot software --(local Zenoh, Cap'n Proto)--> rover-agent --(mTLS Zenoh uplink)--> cloud

The agent has a single ingest path: it subscribes to local Zenoh topics carrying Cap'n Proto-serialized messages. It decodes them, updates its internal robot state, and forwards them to the cloud over the mutual-TLS Zenoh uplink (rate-limited per message type).

Your robot software is responsible for publishing telemetry onto those local topics.

What to publish

At minimum, publish Cap'n Proto messages for motion and status telemetry; the agent also forwards other types it receives (such as faults and events). For the full message-type catalog, see Telemetry messaging. A reference of the exact local Zenoh topic keys and Cap'n Proto message names is coming soon.

Steps

  1. Obtain the Cap'n Proto telemetry schema and generate bindings for your language. Schema distribution details are coming soon; to obtain the schema, contact [email protected].
  2. In your robot software, serialize motion and status updates as Cap'n Proto messages.
  3. Publish them on the local Zenoh telemetry topics at a steady rate. The agent rate-limits the cloud uplink, so you do not need to throttle to the cloud yourself.
  4. Confirm the data appears: watch the agent logs and check the robot's live data in the web app (see Verify Agent Connectivity).

ROS 2 robots

If your robot runs ROS 2, do not publish to Zenoh directly from every node. Instead run the external ROS 2 bridge, which translates ROS 2 (DDS) messages to and from these same local Zenoh Cap'n Proto topics. See Set Up the ROS 2 Bridge.

Next steps