Mapping

Create and edit map data, and read the SLAM map from the robot.

Auto-Mapping

When auto-mapping is enabled, the robot will automatically explore and map its environment. This feature is only available while the robot is in mapping mode.

curl -X POST \
  -H "Content-Type: application/json" \
  -d '{"enable": true}' \
  http://192.168.25.25:8090/services/enable_auto_mapping

Parameters

interface EnableAutoMappingRequest {
  enable: boolean;
}

Collect Landmarks

This service is used to collect landmarks for an existing map.

curl -X POST http://192.168.25.25:8090/services/start_collecting_landmarks
curl -X POST http://192.168.25.25:8090/services/stop_collecting_landmarks

The result is stored at:

curl http://192.168.25.25:8090/collected_data

The collected data serves as raw material. Developers must manually insert these landmarks into overlays for them to be used.

Map Overlays

Reads or replaces the dynamic map overlays as a GeoJSON FeatureCollection. This is a raw JSON endpoint — the Accept header is ignored and the response is always application/json.

Get overlays

Proxies to the /get_map_overlays ROS service (ax_msgs/GetMapOverlays).

Route

GET /ros/map/overlays

Request

No parameters, no request body.

Response

200 application/json — the overlays as a GeoJSON FeatureCollection, passed through verbatim from the service.

{
  "type": "FeatureCollection",
  "features": [
    {
      "type": "Feature",
      "geometry": {
        "type": "Polygon",
        "coordinates": [
          [
            [0, 0],
            [1, 0],
            [1, 1],
            [0, 0]
          ]
        ]
      },
      "properties": { "kind": "speed_limit_zone" }
    }
  ]
}

Cache behavior

Cache-Control: no-cache — overlays are dynamic state.

Additional error codes

Example

curl http://192.168.25.25:8090/ros/map/overlays > overlays.json

Set overlays

Proxies to the /set_map_overlays ROS service (ax_msgs/SetMapOverlays).

Route

PUT /ros/map/overlays

Request

The body is the overlays as a GeoJSON FeatureCollection with Content-Type: application/json. The body is sent verbatim as the overlays string to the ROS service.

Response

200 application/json:

{ "success": true, "message": "" }

Additional error codes

Example

curl -X PUT \
  -H "Content-Type: application/json" \
  --data-binary @overlays.json \
  http://192.168.25.25:8090/ros/map/overlays

SDK usage

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

const api = new RobotApi({ apiBase: "http://192.168.25.25:8090" });

// Read the current overlays
const overlays: FeatureCollection = await api.getMapOverlays();

// Replace the overlays
await api.setMapOverlays(overlays);

Traffic Info

Reads or replaces the dynamic traffic info (no-passing zones) of the currently loaded map, as a lightweight JSON document. This is a raw JSON endpoint — the Accept header is ignored and the response is always application/json.

Traffic info is stored separately from Map Overlays: the server converts each zone into a Polygon feature marked properties.trafficInfo = true and appends it to the current overlays. Calling set_map or set_map_overlays discards those generated features.

Get traffic info

Proxies to the /get_traffic_info ROS service (ax_msgs/GetTrafficInfo).

Route

GET /ros/map/traffic_info

Request

No parameters, no request body.

Response

200 application/json — the traffic info JSON document.

{
  // Format version; only 1 is supported.
  "version": 1,

  // UID of the map this traffic info belongs to.
  "map_uid": "6246b10c21e1f5ce844af829",

  // No-passing zone list, full-replacement semantics.
  "no_passing_zones": [
    {
      // Unique within the list.
      "id": "npz-001",

      // Vertices as [x, y] pairs in map coordinates, at least 3;
      // the ring is closed automatically.
      "polygon": [
        [1.0, 2.0],
        [3.0, 2.0],
        [3.0, 5.0],
        [1.0, 5.0],
      ],

      // Reserved. Stored but not evaluated in version 1 — zones are always active.
      "time_rules": [],
    },
  ],
}

Cache behavior

Cache-Control: no-cache — traffic info is dynamic state.

Additional error codes

Example

curl http://192.168.25.25:8090/ros/map/traffic_info > traffic_info.json

Set traffic info

Proxies to the /set_traffic_info ROS service (ax_msgs/SetTrafficInfo).

Route

PUT /ros/map/traffic_info

Request

The body is the traffic info JSON document with Content-Type: application/json. The body is sent verbatim as the traffic_info string to the ROS service.

The call is a full replacement: zones omitted from no_passing_zones are deleted, and an empty array clears every dynamic no-passing zone. map_uid must match the UID of the currently loaded map.

Response

200 application/json:

{ "success": true, "message": "" }

Additional error codes

500 covers validation failures such as a missing map, a map_uid that does not match the currently loaded map, a duplicate zone id, or a polygon with fewer than 3 vertices.

Example

curl -X PUT \
  -H "Content-Type: application/json" \
  --data-binary @traffic_info.json \
  http://192.168.25.25:8090/ros/map/traffic_info

SDK usage

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

const api = new RobotApi({ apiBase: "http://192.168.25.25:8090" });

// Read the current traffic info
const trafficInfo: TrafficInfo = await api.getTrafficInfo();

// Replace the no-passing zones
trafficInfo.no_passing_zones = [
  {
    id: "npz-001",
    polygon: [
      [1.0, 2.0],
      [3.0, 2.0],
      [3.0, 5.0],
      [1.0, 5.0],
    ],
  },
];
await api.setTrafficInfo(trafficInfo);

Submap Query V2

Route

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

Request

No request body.

Response

ros_messages.SubmapQueryV2Response — see slam/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
}