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Telemetry Mappings

Map your robot's data onto the messages and topics the agent expects.

Whichever integration path you use, the agent expects telemetry and commands in a fixed set of message types on a fixed set of topics. Integration is largely the work of mapping your robot's data onto that contract.

For the full message-type catalog (fields and schemas), see Telemetry — the canonical reference. This page focuses on mapping guidance.

Map your robot's data to these uplink message types and publish to uplink/robot/{robot_id}/{message_type}:

Your robot data Maps to Reference
Pose, velocity, odometry Motion telemetry Telemetry
Mode, battery, operational state Status telemetry Telemetry
Vendor-specific extra fields Telemetry extras Telemetry
Faults / diagnostics / events Fault, Event Health and Status
Detected objects Object Telemetry
Mission progress / run status Mission feedback Mission Feedback

The agent uses motion/status/extras to maintain live robot state and forwards the other types onward to the cloud.

Subscribe to robots/{robot_id}/commands and translate each command into action on your robot:

Command Reference
Mission commands (and delete-mission) Mission Commands
Teleop (gamepad/joy) Teleoperation
Mode / velocity / go-to / stop / resume Mission Commands
Settings updates Robot configuration
Spatial directives, features (shapes/routes) Spatial Directives
Invoke service Capabilities

Mapping approaches

  • ROS 2: configure the bridge to translate between your ROS 2 topics and the contract. The bridge configuration and topic-mapping format are coming soon — contact [email protected] for early access.
  • Native: publish/subscribe Cap'n Proto on Zenoh directly. See Custom Integrations.

Rate and units

  • The agent applies per-message-type rate limiting on the uplink; publish at your natural rate and the agent paces what it relays.
  • Expected units and coordinate frames for pose/velocity fields are coming soon.