Forwarded ROS Services API

Conventions

Content-type & response format

The default response format is application/x-protobuf. Endpoints that support JSON respond with application/json when the request includes Accept: application/json. JSON bodies are generated by serializing the same protobuf message via google::protobuf::util::MessageToJsonString (proto3 JSON mapping — field names are snake_case).

Protobuf definitions

Protobuf message definitions are published as part of the @kingsimba/axbot-sdk TypeScript SDK on npm. The .proto source files are available in the axbot-ts-sdk repository. Each endpoint references its own response message.

Service index

Submap Query V2

Route

GET /ros/slam/submaps/{uuid}/{trajectory_id}/{submap_index}

Request

No request body.

Response

ros_messages.SubmapQueryV2Response — see submap_query.proto and geometry.proto.

Cache behavior

• With ?ver=...: Cache-Control: public, max-age=31536000, immutable
• Without ver: Cache-Control: no-cache + weak ETag
• Matching If-None-Match: 304 Not Modified

Additional error codes

Example

curl -i \
  'http://192.168.25.25:8090/ros/slam/submaps/681dc447472ac49d7b074fa1/12/3?ver=42' \
  -o submap_query.pb

SLAM Map Image

Fetches the current SLAM map as a protobuf-encoded PNG image. Proxies to the /slam/get_image ROS service.

Route

GET /ros/slam/map_image

Request

No request body.

Response

ros_messages.slam.GetMapImageResponse — see slam/map_image.proto and slam/status.proto.

The response includes:

Cache behavior

No caching — the map image is dynamic and reflects the current SLAM state.

Additional error codes

Example

# Fetch as binary protobuf
curl -H "Accept: application/x-protobuf" \
  'http://192.168.25.25:8090/ros/slam/map_image' \
  -o map_image.pb

# Fetch as JSON
curl -H "Accept: application/json" \
  'http://192.168.25.25:8090/ros/slam/map_image' | jq .

{
  "origin_x": -8.1,
  "origin_y": -4.8,
  "resolution": 0.05,
  "status_code": "OK",
  "status_message": ""
}

SDK usage

import { RobotApi } from "@kingsimba/axbot-sdk/robotApi";

const api = new RobotApi({ apiBase: "http://192.168.25.25:8090" });
const result = await api.getMapImage({ resolution: 0.05 });
if (result) {
  const png = new Blob([result.message.png_bytes], { type: "image/png" });
  const url = URL.createObjectURL(png);
  // use url as <img src> or ImageBitmap source
}

Topic List

Lists all currently published ROS topics with type, publisher count, and subscriber count. Queries the ROS master directly.

Route

GET /ros/rosmaster/topics

Request

No parameters, no request body.

Response

ros_messages.TopicListResponse — repeated TopicInfo (name, type, publisher_count, subscriber_count). Only topics with at least one publisher are included.

See topics.proto.

Cache behavior

Cache-Control: no-cache — topic state is dynamic; no ETags.

Example

# protobuf (default)
curl http://192.168.25.25:8090/ros/rosmaster/topics | protoc --decode_raw

# JSON
curl -H "Accept: application/json" \
  http://192.168.25.25:8090/ros/rosmaster/topics | jq .

{
  "topics": [
    {
      "name": "/tf",
      "type": "tf2_msgs/TFMessage",
      "publisher_count": 1,
      "subscriber_count": 3
    }
  ]
}

Published Topic Names

Returns only the names of topics that have at least one publisher.

Route

GET /ros/rosmaster/topics/published_names

Request

No parameters, no request body.

Response

ros_messages.PublishedTopicNamesResponse — repeated names fields.

See topics.proto.

Cache behavior

Cache-Control: no-cache — topic state is dynamic.

Example

# protobuf (default)
curl http://192.168.25.25:8090/ros/rosmaster/topics/published_names | protoc --decode_raw

# JSON
curl -H "Accept: application/json" \
  http://192.168.25.25:8090/ros/rosmaster/topics/published_names | jq .

{
  "names": ["/tf", "/scan", "/odom"]
}