Navigation & Planning
What the robot is doing and where it is going: planning state, paths, follow-target control, and robot geometry.
Planning State
Returns the execution state of the most recent move action.
enum ActionType {
none,
standard,
charge,
along_given_route, // Move along a specified track.
return_to_elevator_waiting_point, // Used when failing to enter an elevator.
enter_elevator,
leave_elevator,
pull_over, // (DO NOT USE) Pull over to make space for other robots.
align_with_rack, // (DO NOT USE)
}
enum MoveState {
none,
idle,
moving,
succeeded,
failed,
cancelled,
}
enum StuckState {
move_stucked,
target_spin_stucked,
}
enum CargoAction {
none,
load, // The fork is already under the cargo, so `/load_cargo` can be called.
unload, // The fork is already above the target rack, so `/unload_cargo` can be called.
}
{
"topic": "/planning_state",
"map_uid": "xxxxxx", // The UID of the current map.
// action
"action_id": 3354,
"action_type": "enter_elevator", // See ActionType (since 2.5.2).
"move_state": "moving", // See MoveState.
"fail_reason": 0, // Valid when move_state == failed.
"fail_reason_str": "none", // Valid when move_state == failed.
"remaining_distance": 2.8750057220458984, // In meters.
// target related
"target_poses": [
{
"pos": [4.08, 2.99],
"ori": 0
}
],
// intent related
"move_intent": "", // Deprecated by `action_type`.
"intent_target_pose": {
// The pose of the current target.
"pos": [0, 0],
"ori": 0
},
// stuck state
"stuck_state": "move_stucked", // See StuckState (since 2.5.2).
"in_elevator": true, // Optional (since 2.5.2).
"viewport_blocked": true, // Optional (since 2.5.2).
// Optional (since 2.9.0).
// Destination is occupied by another robot, so it is waiting at the roadside.
"is_waiting_for_dest": true,
"docking_with_conveyer": true, // Optional (since 2.9.0).
// Optional (since 2.11.0). Defaults to 0.
// Only valid when moving along a specified route.
// Indicates the number of points already passed.
"given_route_passed_point_count": 3,
// Optional. Defaults to "none".
// The cargo action the robot is expecting next, so the business layer knows
// whether to run `/load_cargo` or `/unload_cargo`. See CargoAction.
"expected_cargo_action": "load"
}
Global Path
The current global path.
{
"topic": "/path",
"stamp": 1653301966860,
"positions": [
[0.94, 0.27, 0.01], // The heading (3rd member) was added in version 2.12.0.
[0.94, 0.25, 0.01],
[0.96, 0.25, 0.01]
]
}
Local Path
This topic is used for debugging.
{
"topic": "/local_path",
"width": 1.1,
"color": "##FFEACD50", // RRGGBBAA
"poses": [
[1, 2, 3], // x, y, ori
[3, 4, 3] // x, y, ori
]
}
Follow Target State
This topic is used for following a moving target.
The user should send this message to the robot at a consistent rate (approximately 2–4 Hz).
{
"topic": "/follow_target_state",
"follow_state": "follow_pose|pause|fail",
"target_pose": {
// valid when follow_state == follow_pose
"pos": [1.1, 2.2], // optional. The pose can have only pos or ori
"ori": 1.2 // optional. The pose can have only pos or ori
}
}
follow_state has the following values:
follow_pose: Move to the giventarget_posepause: Hold the robot stillfail: Mark the current action as failed. To start following again, start another action.
Robot Model
The footprint of a robot may change dynamically. For example, it will become larger when it loads a rack. This topic is used to know the dynamic footprint of the robot.
{
"topic": "/robot_model",
"footprint": [
[0.13, -0.25],
[0.203, -0.228],
[0.235, -0.178],
[0.245, -0.077],
[0.248, 0.029],
[0.243, 0.163],
[0.235, 0.217],
[0.207, 0.26],
[0.17, 0.291],
[0.122, 0.324],
[-0.122, 0.324],
[-0.17, 0.291],
[-0.207, 0.26],
[-0.235, 0.217],
[-0.243, 0.163],
[-0.248, 0.029],
[-0.245, -0.077],
[-0.235, -0.178],
[-0.203, -0.228],
[-0.13, -0.25]
],
// since 2.12.4 The expanded_footprint adds more safe zone around the robot
"expanded_footprint": [
[-0.245, -0.077],
[-0.235, -0.178],
[-0.203, -0.228],
[-0.13, -0.25]
"..."
]
"width": 0.496
}
Traveled Distance
Warning
Experimental Feature
{
"topic": "/platform_monitor/travelled_distance",
"start_time": 1653303520, // Start time of the current move.
"duration": 60, // Execution time of the current move.
"distance": 27.89, // Distance traveled during the current move.
"accumulated_distance": 5230.0 // Total distance traveled since system startup.
}
Robot Signal
Since 2.8.0, requires caps.supportsRobotSignal.
Indicators that signal whether the robot is turning left, turning right, or braking.
{
"topic": "/robot_signal",
"turn_left": true, // turning left
"turn_right": false, // turning right
"brake": false, // braking
"reverse": false // backing up
}