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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 the local Zenoh robot/** key space (e.g. robot/telemetry/motion):

Your robot data Maps to Reference
Pose, velocity, odometry Motion telemetry (global / local) Telemetry
Mode, battery, operational state Status telemetry Telemetry
Vendor-specific extra fields Sensor telemetry Telemetry
Faults / diagnostics / operator notes Fault, Message Health and Status
Detected objects Object Telemetry
Mission progress / run status Mission feedback Mission Feedback

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

Subscribe to the local command key (or command/**) and translate each command into action on your robot:

Command Reference
Mission commands and run control (assign / pause / resume / cancel / abort) Mission Commands
Teleop (gamepad/joy) Teleoperation
Mode / velocity / navigate-to / pause / resume Mission Commands
Settings updates Robot configuration
Field rules, features (shapes/routes) Field Rules
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, using the schema and Rust/Python/C++ bindings from the client libraries. 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.