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).

`Accept` request header	`Content-Type` response	Body
(absent)	`application/x-protobuf`	binary protobuf
`application/x-protobuf`	`application/x-protobuf`	binary protobuf
`application/json`	`application/json`	proto3 JSON
(any other)	`text/plain`	`415 Unsupported Media Type`

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

Method	Path	ROS source
`GET`	`/ros/slam/submaps/{uuid}/{trajectory_id}/{submap_index}`	`/submap_query_v2` (`cartographer_ros_msgs/SubmapQueryV2`)
`GET`	`/ros/rosmaster/topics`	ROS master API (`getTopics` + `getSystemState`)
`GET`	`/ros/rosmaster/topics/published_names`	ROS master API (`getSystemState` — publishers only)

Submap Query V2

Route

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

Request

Param	Type	Where	Notes
`uuid`	string	path	Passed through to the ROS request
`trajectory_id`	integer	path	Decimal integer
`submap_index`	integer	path	Decimal integer
`ver`	string	query	Optional; affects cache behavior only

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

Status	Meaning
`404`	ROS service reported not found
`502`	ROS service call failed
`504`	ROS service was unavailable before timeout

Example

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

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

# 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

# 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"]
}