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Telemetry

Telemetry reports the robot's live state to the cloud.

  • Direction: Uplink (robot → cloud)
  • Topic: a sub-key of robot/** on the local Zenoh session (e.g. robot/telemetry/motion)
  • Encoding: Cap'n Proto over Zenoh

The agent consumes motion/status/sensor telemetry to maintain live robot state and relays them to the cloud (rate-limited per message type). Detected objects are forwarded as well.

Message types

Type Purpose
Global motion telemetry GPS (WGS84) pose, velocity, and fix quality.
Local motion telemetry Local-frame (odometry) pose and velocity.
Status telemetry Mode, operational status, and high-level health.
Sensor telemetry Vendor-specific or supplementary key/value readings.
Object Detected objects in the environment.

For complete field-by-field definitions of every uplink message, see the Uplink Messages reference.

Motion telemetry

Carries the robot's pose (position and orientation) and velocity. There are two variants: global (GPS / WGS84) and local (odometry). Publish whichever frame your robot localizes in, or both. Publishing either marks the robot online; recommended rate is 1 Hz idle, max 10 Hz in motion.

Coordinate frames. The agent normalizes local-frame telemetry to WGS84 before relaying it, so publish whatever frame you have. Local-frame telemetry requires a configured local origin, or it is dropped. See Coordinate Frames.

See Uplink Messages → globalMotionTelemetry and localMotionTelemetry for the full schemas.

Status telemetry

Carries the robot's mode, operational status, e-stop state, and (optionally) battery and fuel. Recommended rate is 1 Hz.

See Uplink Messages → statusTelemetry for the full schema, including BatteryStatus, FuelStatus, and EStop.

Sensor telemetry

A place for arbitrary OEM key/value readings not covered by the standard motion/status messages. Declare readings in capabilities so they render in the UI.

See Uplink Messages → sensorTelemetry for the full schema.

Object

Reports a detected object. Objects are persisted by the agent.

Field Notes
identity Object id, name, revision, and hash.
objectType Object classification.
pose Object location (a GeoPose or LocalPose).
trajectory Optional motion of the object.
radiusM Object radius in meters.
scope Object scope.
unixTimeMs / expiresAtMs Detection and expiry timestamps (epoch ms).

See Uplink Messages → object and Common Types → Tracked objects for the full schema (object types, geometry, and units).

Publishing