SLAM

API for communication with ZBOS by Zora Robotics.

Channels

zbos/slam/start

PUB Start slam service

see zbos/slam/start/response/\{key} for response

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/start/response/\{key}

SUB response: Start slam

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/stop

PUB Stop slam service

see zbos/slam/stop/response/\{key} for response

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/stop/response/\{key}

SUB response: Stop slam

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/error

SUB ERROR in Slam

Channel tags

  • SLAM

SlamError
Payload

Name

Type

Description

Accepted values

errorCode

string

Any

message

string

Any
Examples of payload
{
  "errorCode": "String",
  "message": "string"
}

zbos/slam/collision/start/event

SUB One or more collisions have started

Channel tags

  • SLAM

Array<AvailableSensor>
Payload

Name

Type

Description

Accepted values

Message Payload

array (object)

Any

Message Payload. id

string

Any

Message Payload. type

string

* TOUCHSENSOR * TOUCHSENSOR_GROUP

Message Payload. translationkey

string

Any
Examples of payload
{
  "id": "string",
  "type": "TOUCHSENSOR",
  "translationkey": "string"
}

zbos/slam/collision/end/event

SUB One or more collisions have stopped

Channel tags

  • SLAM

Array<AvailableSensor>
Payload

Name

Type

Description

Accepted values

Message Payload

array (object)

Any

Message Payload. id

string

Any

Message Payload. type

string

* TOUCHSENSOR * TOUCHSENSOR_GROUP

Message Payload. translationkey

string

Any
Examples of payload
{
  "id": "string",
  "type": "TOUCHSENSOR",
  "translationkey": "string"
}

zbos/slam/status/get

PUB Get SLAM status

see zbos/slam/status/response/\{key} for response

Channel tags

  • SLAM

KeyResult

Random key

Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any
Examples of payload
{
  "key": "ABCxyz"
}

zbos/slam/status/response/\{key}

SUB response: Get SLAM status

Channel tags

  • SLAM

SlamStatus
Payload

Name

Type

Description

Accepted values

mappingConfigurable

boolean

Any

mappingEnabled

boolean

Any

isMapSaving

boolean

Any

currentMap

object

Any

currentMap. key

string

Any

currentMap. id

string

Any

currentMap. mapName

string

Any
Examples of payload
{
  "mappingConfigurable": true,
  "mappingEnabled": true,
  "currentMap": {
    "id": "map1",
    "mapName": "Map 1"
  },
  "mapSaving": false
}

zbos/slam/status/event

SUB event: Status SLAM

Channel tags

  • SLAM

SlamStatus
Payload

Name

Type

Description

Accepted values

mappingConfigurable

boolean

Any

mappingEnabled

boolean

Any

isMapSaving

boolean

Any

currentMap

object

Any

currentMap. key

string

Any

currentMap. id

string

Any

currentMap. mapName

string

Any
Examples of payload
{
  "mappingConfigurable": true,
  "mappingEnabled": true,
  "currentMap": {
    "id": "map1",
    "mapName": "Map 1"
  },
  "mapSaving": false
}

zbos/slam/mapview/clear

PUB Clear current map view

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/mapview/clear/event

SUB event: Map view cleared

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/mapview/current

SUB event: Map view changed

Channel tags

  • SLAM

String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any
Example of payload (generated)
"string"

zbos/slam/mapview/current/get

PUB Get current map view

see zbos/slam/mapview/current/response/\{key} for response

Channel tags

  • SLAM

KeyResult

Random key

Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any
Examples of payload
{
  "key": "ABCxyz"
}

zbos/slam/mapview/current/response/\{key}

SUB response: Get current map view

Channel tags

  • SLAM

RemoteMapResponseObject
Payload

Name

Type

Description

Accepted values

mapId

string

Any

mapName

string

Any

data

string

Any
Examples of payload
{
  "mapId": "123456",
  "mapName": "string",
  "data": "string"
}

zbos/slam/mapping/enable

PUB Enable SLAM mapping

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/mapping/disable

PUB Disable SLAM mapping

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/mapping/extend/start

PUB Start extending SLAM mapping

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/mapping/extend/cancel

PUB Stop extending SLAM mapping

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/mapping/extend/get

PUB Get extending SLAM mapping

see zbos/slam/mapping/extend/response/\{key} for response

Channel tags

  • SLAM

KeyResult

Random key

Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any
Examples of payload
{
  "key": "ABCxyz"
}

zbos/slam/mapping/extend/response/\{key}

SUB response: Get extending SLAM mapping

Channel tags

  • SLAM

String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any
Example of payload (generated)
"string"

zbos/slam/mapping/extend/started

SUB event: SLAM mapping extending started

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/mapping/extend/stopped

SUB event: SLAM mapping extending stopped

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/mapping/extend/failed

SUB event: SLAM mapping extending failed

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/mapping/extend/canceled

SUB event: SLAM mapping extending canceled

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/maps/list/get

PUB Get all maps

see zbos/slam/maps/list/response/\{key} for response

Channel tags

  • SLAM

KeyResult

Random key

Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any
Examples of payload
{
  "key": "ABCxyz"
}

zbos/slam/maps/list/response/\{key}

SUB event: Get all maps

Channel tags

  • SLAM

Array<String>
Payload

Name

Type

Description

Accepted values

Message Payload

array (string)

Any
Example of payload (generated)
[
  "string"
]

zbos/slam/maps/get

PUB Get all maps

see zbos/slam/maps/get/response/\{key} for response

Channel tags

  • SLAM

KeyResult

Random key

Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any
Examples of payload
{
  "key": "ABCxyz"
}

zbos/slam/maps/get/response/\{key}

SUB event: Get all maps

Channel tags

  • SLAM

Array<SimpleMap>
Payload

Name

Type

Description

Accepted values

Message Payload

array (object)

Any

Message Payload. key

string

Any

Message Payload. id

string

Any

Message Payload. mapName

string

Any
Example of payload (generated)
[
  {
    "key": "string",
    "id": "string",
    "mapName": "string"
  }
]

zbos/slam/maps/get/current

PUB Get current maps

see zbos/slam/maps/get/current/response/\{key} for response

Channel tags

  • SLAM

KeyResult

Random key

Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any
Examples of payload
{
  "key": "ABCxyz"
}

zbos/slam/maps/get/current/response/\{key}

SUB event: Get current maps

Channel tags

  • SLAM

SlamMap
Payload

Name

Type

Description

Accepted values

id

string

Any

mapName

string

Any

poiList

array (object)

Any

poiList. name

string

Any

poiList. uuid

string

Any

poiList. type

string

Any

poiList. coordinate

object

Any

poiList.coordinate. x

number

Any

poiList.coordinate. y

number

Any

poiList.coordinate. z

number

Any

poiList.coordinate. rotation

number

Any

poiList.coordinate. rawX

number

Any

poiList.coordinate. rawY

number

Any

poiList.coordinate. rawZ

number

Any

poiList.coordinate. orientation

object

Any

poiList.coordinate.orientation. yaw

number

Any

poiList.coordinate.orientation. pitch

number

Any

poiList.coordinate.orientation. roll

number

Any

poiList. inAction

object

Any

poiList.inAction. actionType

string

* MQTT * API

poiList.inAction. radius

number

Any

poiList.inAction. target

string

Mqtt topic or API url

Any

poiList.inAction. data

string

Mqtt payload or post body

Any

poiList. outAction

object

Any

poiList.outAction. actionType

string

* MQTT * API

poiList.outAction. radius

number

Any

poiList.outAction. target

string

Mqtt topic or API url

Any

poiList.outAction. data

string

Mqtt payload or post body

Any

poiList. data

object

Any
Examples of payload
{
  "id": "string",
  "mapName": "string",
  "poiList": [
    {
      "name": "string",
      "uuid": "string",
      "type": "DEFAULT",
      "coordinate": {
        "x": 15,
        "y": 15,
        "rotation": 90,
        "rawX": 14.8,
        "rawY": 15.4
      },
      "inAction": {
        "actionType": "MQTT",
        "radius": 270,
        "target": "string",
        "data": "string"
      },
      "outAction": {
        "actionType": "MQTT",
        "radius": 270,
        "target": "string",
        "data": "string"
      }
    }
  ]
}

zbos/slam/maps/load

PUB Load map

Channel tags

  • SLAM

SimpleMap
Payload

Name

Type

Description

Accepted values

key

string

Any

id

string

Any

mapName

string

Any
Examples of payload
{
  "id": "map1",
  "mapName": "Map 1"
}

zbos/slam/maps/load/event

SUB event: Load map

Channel tags

  • SLAM

SimpleMap
Payload

Name

Type

Description

Accepted values

key

string

Any

id

string

Any

mapName

string

Any
Examples of payload
{
  "id": "map1",
  "mapName": "Map 1"
}

zbos/slam/maps/save

PUB Save map

Channel tags

  • SLAM

SimpleMap
Payload

Name

Type

Description

Accepted values

key

string

Any

id

string

Any

mapName

string

Any
Examples of payload
{
  "key": "test",
  "mapName": "Map 1"
}
{
  "key": "test",
  "id": "map1"
}
{
  "key": "test",
  "id": "map1",
  "mapName": "Map 1"
}

zbos/slam/maps/save/response/\{key}

SUB response: Save map

Channel tags

  • SLAM

SuccessMessage

Success message

Payload

Name

Type

Description

Accepted values

success

boolean

Any

message

string

Optional error message

Any
Examples of payload
{
  "success": true
}

zbos/slam/maps/save/event

SUB event: Save map

Channel tags

  • SLAM

SimpleMap
Payload

Name

Type

Description

Accepted values

key

string

Any

id

string

Any

mapName

string

Any
Examples of payload
{
  "id": "map1",
  "mapName": "Map 1"
}

zbos/slam/maps/delete

PUB Delete map

Channel tags

  • SLAM

SimpleMap
Payload

Name

Type

Description

Accepted values

key

string

Any

id

string

Any

mapName

string

Any
Examples of payload
{
  "id": "map1",
  "mapName": "Map 1"
}

zbos/slam/maps/delete/all

PUB Deletes all maps

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/maps/delete/event

SUB event: Delete map

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/location/current

SUB event: Location changed

Channel tags

  • SLAM

ZbosLocation
Payload

Name

Type

Description

Accepted values

x

number

Any

y

number

Any

z

number

Any

rotation

number

Any

rawX

number

Any

rawY

number

Any

rawZ

number

Any

orientation

object

Any

orientation. yaw

number

Any

orientation. pitch

number

Any

orientation. roll

number

Any
Examples of payload
{
  "x": 15,
  "y": 15,
  "rotation": 90,
  "rawX": 14.8,
  "rawY": 15.4
}
{
  "rawX": 0.5,
  "rawY": -0.4,
  "rawZ": 0.8,
  "orientation": {
    "yaw": 0,
    "pitch": 0,
    "roll": 3.14
  }
}

zbos/slam/location/current/get

PUB Get robot location

see zbos/slam/location/current/response/\{key} for response

Channel tags

  • SLAM

KeyResult

Random key

Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any
Examples of payload
{
  "key": "ABCxyz"
}

zbos/slam/location/current/response/\{key}

SUB response: Get robot location

Channel tags

  • SLAM

ZbosLocation
Payload

Name

Type

Description

Accepted values

x

number

Any

y

number

Any

z

number

Any

rotation

number

Any

rawX

number

Any

rawY

number

Any

rawZ

number

Any

orientation

object

Any

orientation. yaw

number

Any

orientation. pitch

number

Any

orientation. roll

number

Any
Examples of payload
{
  "x": 15,
  "y": 15,
  "rotation": 90,
  "rawX": 14.8,
  "rawY": 15.4
}
{
  "rawX": 0.5,
  "rawY": -0.4,
  "rawZ": 0.8,
  "orientation": {
    "yaw": 0,
    "pitch": 0,
    "roll": 3.14
  }
}

zbos/slam/location/current/set

PUB Set robot location

see zbos/slam/location/current/set/response/\{key} for response

Channel tags

  • SLAM

ZbosSetLocationRequest
Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any

coordinate

object

Any

coordinate. x

number

Any

coordinate. y

number

Any

coordinate. z

number

Any

coordinate. rotation

number

Any

coordinate. rawX

number

Any

coordinate. rawY

number

Any

coordinate. rawZ

number

Any

coordinate. orientation

object

Any

coordinate.orientation. yaw

number

Any

coordinate.orientation. pitch

number

Any

coordinate.orientation. roll

number

Any
Examples of payload
{
  "key": "string",
  "coordinate": {
    "x": 15,
    "y": 15,
    "rotation": 90,
    "rawX": 14.8,
    "rawY": 15.4
  }
}

zbos/slam/location/current/set/response/\{key}

SUB response: Set robot location

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/location/recover

PUB Recover robot location

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/location/recover/started

SUB Location revocery started

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/location/recover/stopped

SUB Location revocery stopped

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/location/recover/failed

SUB Location revocery failed

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/location/reset/chargingstation

PUB Reset robot to charging station

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/location/reset/chargingstation/started

SUB Reset robot to charging station started

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/location/reset/chargingstation/stopped

SUB Reset robot to charging station stopped

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/location/home

SUB Home location changed

Channel tags

  • SLAM

ZbosLocation
Payload

Name

Type

Description

Accepted values

x

number

Any

y

number

Any

z

number

Any

rotation

number

Any

rawX

number

Any

rawY

number

Any

rawZ

number

Any

orientation

object

Any

orientation. yaw

number

Any

orientation. pitch

number

Any

orientation. roll

number

Any
Examples of payload
{
  "x": 15,
  "y": 15,
  "rotation": 90,
  "rawX": 14.8,
  "rawY": 15.4
}

zbos/slam/location/home/get

PUB Get home location

see zbos/slam/location/home/response/\{key} for response

Channel tags

  • SLAM

KeyResult

Random key

Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any
Examples of payload
{
  "key": "ABCxyz"
}

zbos/slam/location/home/response/\{key}

SUB response: Get home location

Channel tags

  • SLAM

ZbosLocation
Payload

Name

Type

Description

Accepted values

x

number

Any

y

number

Any

z

number

Any

rotation

number

Any

rawX

number

Any

rawY

number

Any

rawZ

number

Any

orientation

object

Any

orientation. yaw

number

Any

orientation. pitch

number

Any

orientation. roll

number

Any
Examples of payload
{
  "x": 15,
  "y": 15,
  "rotation": 90,
  "rawX": 14.8,
  "rawY": 15.4
}

zbos/slam/walls/clear

PUB clear all walls

Save is optional, if false, then the map will not be saved. By default the map will be saved.

Channel tags

  • SLAM

WallClearRequest
Payload

Name

Type

Description

Accepted values

save

boolean

Any
Examples of payload
{
  "save": true
}

zbos/slam/walls/clear/event

SUB response: Clear all walls

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/walls/current

SUB Walls changed

Channel tags

  • SLAM

String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any
Example of payload (generated)
"string"

zbos/slam/walls/current/get

PUB Get current walls

see zbos/slam/walls/current/response/\{key} for response

Channel tags

  • SLAM

KeyResult

Random key

Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any
Examples of payload
{
  "key": "ABCxyz"
}

zbos/slam/walls/current/response/\{key}

SUB response: Get current walls

Channel tags

  • SLAM

Array<Wall>
Payload

Name

Type

Description

Accepted values

Message Payload

array (object)

Any

Message Payload. startPoint

object

Any

Message Payload.startPoint. x

number

Any

Message Payload.startPoint. y

number

Any

Message Payload. endPoint

object

Any

Message Payload.endPoint. x

number

Any

Message Payload.endPoint. y

number

Any

Message Payload. segmentId

string

Any

Message Payload. save

boolean

Any
Examples of payload
{
  "startPoint": {
    "x": 1,
    "y": 1
  },
  "endPoint": {
    "x": 5,
    "y": 5
  },
  "segmentId": "string",
  "save": true
}

zbos/slam/walls/add

PUB Add wall

Channel tags

  • SLAM

Wall
Payload

Name

Type

Description

Accepted values

startPoint

object

Any

startPoint. x

number

Any

startPoint. y

number

Any

endPoint

object

Any

endPoint. x

number

Any

endPoint. y

number

Any

segmentId

string

Any

save

boolean

Any
Examples of payload
{
  "startPoint": {
    "x": 1,
    "y": 1
  },
  "endPoint": {
    "x": 5,
    "y": 5
  },
  "segmentId": "string",
  "save": true
}

zbos/slam/walls/add/event

SUB event: Add wall

Channel tags

  • SLAM

Wall
Payload

Name

Type

Description

Accepted values

startPoint

object

Any

startPoint. x

number

Any

startPoint. y

number

Any

endPoint

object

Any

endPoint. x

number

Any

endPoint. y

number

Any

segmentId

string

Any

save

boolean

Any
Examples of payload
{
  "startPoint": {
    "x": 1,
    "y": 1
  },
  "endPoint": {
    "x": 5,
    "y": 5
  },
  "segmentId": "string",
  "save": true
}

zbos/slam/walls/remove

PUB Remove wall

Channel tags

  • SLAM

WallRemoveRequest
Payload

Name

Type

Description

Accepted values

segmentId

string

Any

save

boolean

Any
Examples of payload
{
  "segmentId": "id5",
  "save": true
}

zbos/slam/walls/remove/multiple

PUB Remove walls

Channel tags

  • SLAM

Array<WallRemoveRequest>
Payload

Name

Type

Description

Accepted values

Message Payload

array (object)

Any

Message Payload. segmentId

string

Any

Message Payload. save

boolean

Any
Examples of payload
{
  "segmentId": "id5",
  "save": true
}
{
  "segmentId": "id7",
  "save": true
}

zbos/slam/walls/remove/event

SUB event: Remove wall

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/walls/update

PUB Update wall

Channel tags

  • SLAM

Wall
Payload

Name

Type

Description

Accepted values

startPoint

object

Any

startPoint. x

number

Any

startPoint. y

number

Any

endPoint

object

Any

endPoint. x

number

Any

endPoint. y

number

Any

segmentId

string

Any

save

boolean

Any
Examples of payload
{
  "startPoint": {
    "x": 1,
    "y": 1
  },
  "endPoint": {
    "x": 5,
    "y": 5
  },
  "segmentId": "string",
  "save": true
}

zbos/slam/walls/update/multiple

PUB Update walls

Channel tags

  • SLAM

Array<Wall>
Payload

Name

Type

Description

Accepted values

Message Payload

array (object)

Any

Message Payload. startPoint

object

Any

Message Payload.startPoint. x

number

Any

Message Payload.startPoint. y

number

Any

Message Payload. endPoint

object

Any

Message Payload.endPoint. x

number

Any

Message Payload.endPoint. y

number

Any

Message Payload. segmentId

string

Any

Message Payload. save

boolean

Any
Examples of payload
{
  "startPoint": {
    "x": 1,
    "y": 1
  },
  "endPoint": {
    "x": 5,
    "y": 5
  },
  "segmentId": "string",
  "save": true
}
{
  "startPoint": {
    "x": 10,
    "y": 5
  },
  "endPoint": {
    "x": 20,
    "y": 10
  },
  "segmentId": "another_id",
  "save": true
}

zbos/slam/walls/update/event

SUB event: Update wall

Channel tags

  • SLAM

Wall
Payload

Name

Type

Description

Accepted values

startPoint

object

Any

startPoint. x

number

Any

startPoint. y

number

Any

endPoint

object

Any

endPoint. x

number

Any

endPoint. y

number

Any

segmentId

string

Any

save

boolean

Any
Examples of payload
{
  "startPoint": {
    "x": 1,
    "y": 1
  },
  "endPoint": {
    "x": 5,
    "y": 5
  },
  "segmentId": "string",
  "save": true
}

zbos/slam/zones/get

PUB Get zones

see zbos/slam/zones/get/response/\{key} for response

Channel tags

  • SLAM

FilteringRequest
Payload

Name

Type

Description

Accepted values

key

string

Any

limit

integer

Any

offset

integer

Any

filters

array (object)

Any

filters. field

string

Field to check on. Note that the field should be camelCase, not snake_case

Any

filters. value

string

Value to check on. For numbers you should use 'min' and 'max'.

Any

filters. min

number

Minimum value, only usable for number fields

Any

filters. max

number

Maximum value, only usable for number fields

Any

filters. direction

string

Direction to sort on. Can be 'asc' or 'desc'. The default direction is 'asc'

* asc * desc

filters. operator

string

Operator for either the child filters, or this filter object itself. Can be 'and', 'or' or 'not'. Default is 'and'. The root operator is always 'and'

* and * or * not

filters. match_type

string

Match type for string values. Can be 'exact', 'contains', 'starts_with', 'ends_with'. The default match_type is 'contains'

* exact * contains * starts_with * ends_with

filters. filters

array (object)

Filters on which the operator will be applied. If there are no child filters, the operator will be applied to the filter object itself.

Any

filters. field_filters

array (object)

Filters to apply on the child fields of the field. Will only work if the field is an object, array/list or map.

Any

sort

array (object)

Any

sort. field

string

Field to check on. Note that the field should be camelCase, not snake_case

Any

sort. value

string

Value to check on. For numbers you should use 'min' and 'max'.

Any

sort. min

number

Minimum value, only usable for number fields

Any

sort. max

number

Maximum value, only usable for number fields

Any

sort. direction

string

Direction to sort on. Can be 'asc' or 'desc'. The default direction is 'asc'

* asc * desc

sort. operator

string

Operator for either the child filters, or this filter object itself. Can be 'and', 'or' or 'not'. Default is 'and'. The root operator is always 'and'

* and * or * not

sort. match_type

string

Match type for string values. Can be 'exact', 'contains', 'starts_with', 'ends_with'. The default match_type is 'contains'

* exact * contains * starts_with * ends_with

sort. filters

array (object)

Filters on which the operator will be applied. If there are no child filters, the operator will be applied to the filter object itself.

Any

sort. field_filters

array (object)

Filters to apply on the child fields of the field. Will only work if the field is an object, array/list or map.

Any

language

string

Optional. Set the language to have all translations filled in. The language format is ISO 639-1 language code, Eg: 'en' or 'en-US'

Any
Examples of payload
{
  "key": "key1",
  "limit": 100,
  "offset": 0,
  "filters": [
    {
      "field": "id",
      "value": "zone1",
      "operator": "and",
      "match_type": "contains"
    }
  ],
  "sort": []
}

zbos/slam/zones/get/response/\{key}

SUB response: Get zones

Channel tags

  • SLAM

<anonymous-message-69>
Payload

Name

Type

Description

Accepted values

success

boolean

Any

message

string

Optional error message

Any

data

array (object)

Result data

Any

data. id

string

Any

data. name

string

Any

data. type

string

Any

data. points

array (object)

Any

data.points. x

number

Any

data.points. y

number

Any
Examples of payload
{
  "success": true,
  "data": [
    {
      "id": "zone1",
      "name": "Zone 1",
      "type": "AVAILABLE",
      "points": [
        {
          "x": 1,
          "y": 1
        },
        {
          "x": 2,
          "y": 1
        },
        {
          "x": 1,
          "y": 0
        },
        {
          "x": 2,
          "y": 0
        }
      ]
    },
    {
      "id": "zone2",
      "name": "Zone 2",
      "type": "OBSTACLE",
      "points": [
        {
          "x": 4,
          "y": 4
        },
        {
          "x": 8,
          "y": 4
        },
        {
          "x": 4,
          "y": 8
        },
        {
          "x": 8,
          "y": 8
        }
      ]
    }
  ]
}

zbos/slam/zones/add

PUB Add zones

see zbos/slam/zones/add/response/\{key} for response

Channel tags

  • SLAM

ZoneRequest
Payload

Name

Type

Description

Accepted values

key

string

Any

zones

array (object)

Any

zones. id

string

Any

zones. name

string

Any

zones. type

string

Any

zones. points

array (object)

Any

zones.points. x

number

Any

zones.points. y

number

Any
Examples of payload
{
  "key": "key1",
  "zones": [
    {
      "name": "Zone 1",
      "type": "AVAILABLE",
      "points": [
        {
          "x": 1,
          "y": 1
        },
        {
          "x": 2,
          "y": 1
        },
        {
          "x": 1,
          "y": 0
        },
        {
          "x": 2,
          "y": 0
        }
      ]
    }
  ]
}

zbos/slam/zones/add/response/\{key}

SUB response: Add zones

Channel tags

  • SLAM

<anonymous-message-71>
Payload

Name

Type

Description

Accepted values

success

boolean

Any

message

string

Optional error message

Any

data

array (object)

Result data

Any

data. id

string

Any

data. name

string

Any

data. type

string

Any

data. points

array (object)

Any

data.points. x

number

Any

data.points. y

number

Any
Examples of payload
{
  "success": true,
  "data": [
    {
      "id": "zone1",
      "name": "Zone 1",
      "type": "AVAILABLE",
      "points": [
        {
          "x": 1,
          "y": 1
        },
        {
          "x": 2,
          "y": 1
        },
        {
          "x": 1,
          "y": 0
        },
        {
          "x": 2,
          "y": 0
        }
      ]
    }
  ]
}

zbos/slam/zones/update

PUB Update zones

see zbos/slam/zones/update/response/\{key} for response

Channel tags

  • SLAM

ZoneRequest
Payload

Name

Type

Description

Accepted values

key

string

Any

zones

array (object)

Any

zones. id

string

Any

zones. name

string

Any

zones. type

string

Any

zones. points

array (object)

Any

zones.points. x

number

Any

zones.points. y

number

Any
Examples of payload
{
  "key": "key1",
  "zones": [
    {
      "id": "zone1",
      "name": "Zone updated",
      "type": "AVAILABLE",
      "points": [
        {
          "x": 1,
          "y": 1
        },
        {
          "x": 2,
          "y": 1
        },
        {
          "x": 1,
          "y": 0
        },
        {
          "x": 2,
          "y": 0
        }
      ]
    }
  ]
}

zbos/slam/zones/update/response/\{key}

SUB response: Update zones

Channel tags

  • SLAM

SuccessMessage

Success message

Payload

Name

Type

Description

Accepted values

success

boolean

Any

message

string

Optional error message

Any
Examples of payload
{
  "success": true
}

zbos/slam/zones/remove

PUB Remove zones

see zbos/slam/zones/remove/response/\{key} for response

Channel tags

  • SLAM

FilteringRequest
Payload

Name

Type

Description

Accepted values

key

string

Any

limit

integer

Any

offset

integer

Any

filters

array (object)

Any

filters. field

string

Field to check on. Note that the field should be camelCase, not snake_case

Any

filters. value

string

Value to check on. For numbers you should use 'min' and 'max'.

Any

filters. min

number

Minimum value, only usable for number fields

Any

filters. max

number

Maximum value, only usable for number fields

Any

filters. direction

string

Direction to sort on. Can be 'asc' or 'desc'. The default direction is 'asc'

* asc * desc

filters. operator

string

Operator for either the child filters, or this filter object itself. Can be 'and', 'or' or 'not'. Default is 'and'. The root operator is always 'and'

* and * or * not

filters. match_type

string

Match type for string values. Can be 'exact', 'contains', 'starts_with', 'ends_with'. The default match_type is 'contains'

* exact * contains * starts_with * ends_with

filters. filters

array (object)

Filters on which the operator will be applied. If there are no child filters, the operator will be applied to the filter object itself.

Any

filters. field_filters

array (object)

Filters to apply on the child fields of the field. Will only work if the field is an object, array/list or map.

Any

sort

array (object)

Any

sort. field

string

Field to check on. Note that the field should be camelCase, not snake_case

Any

sort. value

string

Value to check on. For numbers you should use 'min' and 'max'.

Any

sort. min

number

Minimum value, only usable for number fields

Any

sort. max

number

Maximum value, only usable for number fields

Any

sort. direction

string

Direction to sort on. Can be 'asc' or 'desc'. The default direction is 'asc'

* asc * desc

sort. operator

string

Operator for either the child filters, or this filter object itself. Can be 'and', 'or' or 'not'. Default is 'and'. The root operator is always 'and'

* and * or * not

sort. match_type

string

Match type for string values. Can be 'exact', 'contains', 'starts_with', 'ends_with'. The default match_type is 'contains'

* exact * contains * starts_with * ends_with

sort. filters

array (object)

Filters on which the operator will be applied. If there are no child filters, the operator will be applied to the filter object itself.

Any

sort. field_filters

array (object)

Filters to apply on the child fields of the field. Will only work if the field is an object, array/list or map.

Any

language

string

Optional. Set the language to have all translations filled in. The language format is ISO 639-1 language code, Eg: 'en' or 'en-US'

Any
Examples of payload
{
  "key": "key1",
  "limit": 100,
  "offset": 0,
  "filters": [
    {
      "field": "id",
      "value": "zone2",
      "operator": "and",
      "match_type": "contains"
    }
  ],
  "sort": []
}

zbos/slam/zones/remove/response/\{key}

SUB response: Remove zones

Channel tags

  • SLAM

SuccessMessage

Success message

Payload

Name

Type

Description

Accepted values

success

boolean

Any

message

string

Optional error message

Any
Examples of payload
{
  "success": true
}

zbos/slam/zones/clear

PUB Remove all zones

see zbos/slam/zones/clear/response/\{key} for response

Channel tags

  • SLAM

KeyResult

Random key

Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any
Examples of payload
{
  "key": "ABCxyz"
}

zbos/slam/zones/clear/response/\{key}

SUB response: Remove all zones

Channel tags

  • SLAM

SuccessMessage

Success message

Payload

Name

Type

Description

Accepted values

success

boolean

Any

message

string

Optional error message

Any
Examples of payload
{
  "success": true
}

zbos/slam/zones/changed/event

SUB event: Zones changed

Channel tags

  • SLAM

ZoneChangedEvent
Payload

Name

Type

Description

Accepted values

added

array (object)

Any

added. id

string

Any

added. name

string

Any

added. type

string

Any

added. points

array (object)

Any

added.points. x

number

Any

added.points. y

number

Any

updated

array (object)

Any

updated. id

string

Any

updated. name

string

Any

updated. type

string

Any

updated. points

array (object)

Any

updated.points. x

number

Any

updated.points. y

number

Any

removed

array (object)

Any

removed. id

string

Any

removed. name

string

Any

removed. type

string

Any

removed. points

array (object)

Any

removed.points. x

number

Any

removed.points. y

number

Any
Examples of payload
{
  "added": [
    {
      "id": "zone1",
      "name": "Zone 1",
      "type": "AVAILABLE",
      "points": [
        {
          "x": 1,
          "y": 1
        },
        {
          "x": 2,
          "y": 1
        },
        {
          "x": 1,
          "y": 0
        },
        {
          "x": 2,
          "y": 0
        }
      ]
    }
  ],
  "updated": [],
  "removed": [
    {
      "id": "zone2",
      "name": "Zone 2",
      "type": "OBSTACLE",
      "points": [
        {
          "x": 4,
          "y": 4
        },
        {
          "x": 8,
          "y": 4
        },
        {
          "x": 4,
          "y": 8
        },
        {
          "x": 8,
          "y": 8
        }
      ]
    }
  ]
}

zbos/slam/interaction/moveto

PUB Move robot to coordinates

Channel tags

  • SLAM

ZbosMoveToPointRequest
Payload

Name

Type

Description

Accepted values

mapId

string

Any

mapName

string

Any

coordinate

object

Any

coordinate. x

number

Any

coordinate. y

number

Any

coordinate. z

number

Any

orientation

object

Any

orientation. yaw

number

Any

orientation. pitch

number

Any

orientation. roll

number

Any

speed

integer

Any
Examples of payload
{
  "mapId": "123456",
  "mapName": "First floor",
  "coordinate": {
    "x": 39,
    "y": 40,
    "z": 0
  }
}

zbos/slam/interaction/moveto/started

SUB MoveTo started

Channel tags

  • SLAM

String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any
Example of payload (generated)
"string"

zbos/slam/interaction/moveto/stopped

SUB MoveTo stopped

Channel tags

  • SLAM

String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any
Example of payload (generated)
"string"

zbos/slam/interaction/moveto/failed

SUB MoveTo failed

Channel tags

  • SLAM

String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any
Example of payload (generated)
"string"

zbos/slam/interaction/moveto/aborted

SUB MoveTo aborted

Channel tags

  • SLAM

String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any
Example of payload (generated)
"string"

zbos/slam/interaction/moveto/blocked

SUB MoveTo Blocked

Channel tags

  • SLAM

String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any
Example of payload (generated)
"string"

zbos/slam/interaction/moveto/retrying

SUB MoveTo retrying

Channel tags

  • SLAM

String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any
Example of payload (generated)
"string"

zbos/slam/interaction/stop

PUB Stop moving

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/interaction/stop/event

SUB event: Movement stopped

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/laserscan/enable

PUB Enable laserscan

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/laserscan/disable

PUB disable laserscan

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/laserscan/current

SUB event: Laserscan changed

Channel tags

  • SLAM

ZbosLaserScan
Payload

Name

Type

Description

Accepted values

angle

number

Any

distance

number

Any
Examples of payload
{
  "angle": 0,
  "distance": 15
}

zbos/slam/poi/current

SUB event: POI changed

Channel tags

  • SLAM

SlamMap
Payload

Name

Type

Description

Accepted values

id

string

Any

mapName

string

Any

poiList

array (object)

Any

poiList. name

string

Any

poiList. uuid

string

Any

poiList. type

string

Any

poiList. coordinate

object

Any

poiList.coordinate. x

number

Any

poiList.coordinate. y

number

Any

poiList.coordinate. z

number

Any

poiList.coordinate. rotation

number

Any

poiList.coordinate. rawX

number

Any

poiList.coordinate. rawY

number

Any

poiList.coordinate. rawZ

number

Any

poiList.coordinate. orientation

object

Any

poiList.coordinate.orientation. yaw

number

Any

poiList.coordinate.orientation. pitch

number

Any

poiList.coordinate.orientation. roll

number

Any

poiList. inAction

object

Any

poiList.inAction. actionType

string

* MQTT * API

poiList.inAction. radius

number

Any

poiList.inAction. target

string

Mqtt topic or API url

Any

poiList.inAction. data

string

Mqtt payload or post body

Any

poiList. outAction

object

Any

poiList.outAction. actionType

string

* MQTT * API

poiList.outAction. radius

number

Any

poiList.outAction. target

string

Mqtt topic or API url

Any

poiList.outAction. data

string

Mqtt payload or post body

Any

poiList. data

object

Any
Examples of payload
{
  "id": "123456",
  "mapName": "First floor",
  "poiList": [
    {
      "name": "string",
      "uuid": "string",
      "type": "DEFAULT",
      "coordinate": {
        "x": 15,
        "y": 15,
        "rotation": 90,
        "rawX": 14.8,
        "rawY": 15.4
      },
      "inAction": {
        "actionType": "MQTT",
        "radius": 270,
        "target": "string",
        "data": "string"
      },
      "outAction": {
        "actionType": "MQTT",
        "radius": 270,
        "target": "string",
        "data": "string"
      }
    }
  ]
}

zbos/slam/poi/clear

PUB Clear all pois

Save is optional, if false, then the map will not be saved. By default the map will be saved.

Channel tags

  • SLAM

ZbosClearPoiRequest
Payload

Name

Type

Description

Accepted values

mapId

string

Any

mapName

string

Any

save

boolean

Any
Examples of payload
{
  "mapId": "123456",
  "mapName": "First floor",
  "save": true
}

zbos/slam/poi/clear/event

SUB event: Clear all pois

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/poi/list/all/get

PUB Get list of pois for all maps

see zbos/slam/poi/list/all/response/\{key} for response

Channel tags

  • SLAM

KeyResult

Random key

Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any
Examples of payload
{
  "key": "ABCxyz"
}

zbos/slam/poi/list/all/response/\{key}

SUB event: Get list of pois for all maps

Channel tags

  • SLAM

Array<SlamMap>
Payload

Name

Type

Description

Accepted values

Message Payload

array (object)

Any

Message Payload. id

string

Any

Message Payload. mapName

string

Any

Message Payload. poiList

array (object)

Any

Message Payload.poiList. name

string

Any

Message Payload.poiList. uuid

string

Any

Message Payload.poiList. type

string

Any

Message Payload.poiList. coordinate

object

Any

Message Payload.poiList.coordinate. x

number

Any

Message Payload.poiList.coordinate. y

number

Any

Message Payload.poiList.coordinate. z

number

Any

Message Payload.poiList.coordinate. rotation

number

Any

Message Payload.poiList.coordinate. rawX

number

Any

Message Payload.poiList.coordinate. rawY

number

Any

Message Payload.poiList.coordinate. rawZ

number

Any

Message Payload.poiList.coordinate. orientation

object

Any

Message Payload.poiList.coordinate.orientation. yaw

number

Any

Message Payload.poiList.coordinate.orientation. pitch

number

Any

Message Payload.poiList.coordinate.orientation. roll

number

Any

Message Payload.poiList. inAction

object

Any

Message Payload.poiList.inAction. actionType

string

* MQTT * API

Message Payload.poiList.inAction. radius

number

Any

Message Payload.poiList.inAction. target

string

Mqtt topic or API url

Any

Message Payload.poiList.inAction. data

string

Mqtt payload or post body

Any

Message Payload.poiList. outAction

object

Any

Message Payload.poiList.outAction. actionType

string

* MQTT * API

Message Payload.poiList.outAction. radius

number

Any

Message Payload.poiList.outAction. target

string

Mqtt topic or API url

Any

Message Payload.poiList.outAction. data

string

Mqtt payload or post body

Any

Message Payload.poiList. data

object

Any
Examples of payload
{
  "id": "123456",
  "mapName": "First floor",
  "poiList": [
    {
      "name": "string",
      "uuid": "string",
      "type": "DEFAULT",
      "coordinate": {
        "x": 15,
        "y": 15,
        "rotation": 90,
        "rawX": 14.8,
        "rawY": 15.4
      },
      "inAction": {
        "actionType": "MQTT",
        "radius": 270,
        "target": "string",
        "data": "string"
      },
      "outAction": {
        "actionType": "MQTT",
        "radius": 270,
        "target": "string",
        "data": "string"
      }
    }
  ]
}

zbos/slam/poi/list/get

PUB Get list of pois for current map

see zbos/slam/poi/list/response/\{key} for response

Channel tags

  • SLAM

ZbosMapDetailRequest
Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any

mapId

string

Any

mapName

string

Any
Examples of payload
{
  "key": "_dfse",
  "mapId": "123456",
  "mapName": "First floor"
}

zbos/slam/poi/list/response/\{key}

SUB event: Get list of pois for current map

Channel tags

  • SLAM

SlamMap
Payload

Name

Type

Description

Accepted values

id

string

Any

mapName

string

Any

poiList

array (object)

Any

poiList. name

string

Any

poiList. uuid

string

Any

poiList. type

string

Any

poiList. coordinate

object

Any

poiList.coordinate. x

number

Any

poiList.coordinate. y

number

Any

poiList.coordinate. z

number

Any

poiList.coordinate. rotation

number

Any

poiList.coordinate. rawX

number

Any

poiList.coordinate. rawY

number

Any

poiList.coordinate. rawZ

number

Any

poiList.coordinate. orientation

object

Any

poiList.coordinate.orientation. yaw

number

Any

poiList.coordinate.orientation. pitch

number

Any

poiList.coordinate.orientation. roll

number

Any

poiList. inAction

object

Any

poiList.inAction. actionType

string

* MQTT * API

poiList.inAction. radius

number

Any

poiList.inAction. target

string

Mqtt topic or API url

Any

poiList.inAction. data

string

Mqtt payload or post body

Any

poiList. outAction

object

Any

poiList.outAction. actionType

string

* MQTT * API

poiList.outAction. radius

number

Any

poiList.outAction. target

string

Mqtt topic or API url

Any

poiList.outAction. data

string

Mqtt payload or post body

Any

poiList. data

object

Any
Examples of payload
{
  "id": "123456",
  "mapName": "First floor",
  "poiList": [
    {
      "name": "string",
      "uuid": "string",
      "type": "DEFAULT",
      "coordinate": {
        "x": 15,
        "y": 15,
        "rotation": 90,
        "rawX": 14.8,
        "rawY": 15.4
      },
      "inAction": {
        "actionType": "MQTT",
        "radius": 270,
        "target": "string",
        "data": "string"
      },
      "outAction": {
        "actionType": "MQTT",
        "radius": 270,
        "target": "string",
        "data": "string"
      }
    }
  ]
}

zbos/slam/poi/add

PUB Add poi

Channel tags

  • SLAM

ZbosAddPoiRequest
Payload

Name

Type

Description

Accepted values

mapId

string

Any

mapName

string

Any

poi

object

Any

poi. name

string

Any

poi. uuid

string

Any

poi. type

string

Any

poi. coordinate

object

Any

poi.coordinate. x

number

Any

poi.coordinate. y

number

Any

poi.coordinate. z

number

Any

poi.coordinate. rotation

number

Any

poi.coordinate. rawX

number

Any

poi.coordinate. rawY

number

Any

poi.coordinate. rawZ

number

Any

poi.coordinate. orientation

object

Any

poi.coordinate.orientation. yaw

number

Any

poi.coordinate.orientation. pitch

number

Any

poi.coordinate.orientation. roll

number

Any

poi. inAction

object

Any

poi.inAction. actionType

string

* MQTT * API

poi.inAction. radius

number

Any

poi.inAction. target

string

Mqtt topic or API url

Any

poi.inAction. data

string

Mqtt payload or post body

Any

poi. outAction

object

Any

poi.outAction. actionType

string

* MQTT * API

poi.outAction. radius

number

Any

poi.outAction. target

string

Mqtt topic or API url

Any

poi.outAction. data

string

Mqtt payload or post body

Any

poi. data

object

Any

save

boolean

Any
Examples of payload
{
  "mapId": "123456",
  "mapName": "First floor",
  "poi": {
    "name": "Home",
    "uuid": "string",
    "type": "DEFAULT",
    "coordinate": {
      "x": 15,
      "y": 15,
      "rotation": 90
    }
  },
  "save": false
}

zbos/slam/poi/add/event

SUB event: Add poi

Channel tags

  • SLAM

Poi
Payload

Name

Type

Description

Accepted values

name

string

Any

uuid

string

Any

type

string

Any

coordinate

object

Any

coordinate. x

number

Any

coordinate. y

number

Any

coordinate. z

number

Any

coordinate. rotation

number

Any

coordinate. rawX

number

Any

coordinate. rawY

number

Any

coordinate. rawZ

number

Any

coordinate. orientation

object

Any

coordinate.orientation. yaw

number

Any

coordinate.orientation. pitch

number

Any

coordinate.orientation. roll

number

Any

inAction

object

Any

inAction. actionType

string

* MQTT * API

inAction. radius

number

Any

inAction. target

string

Mqtt topic or API url

Any

inAction. data

string

Mqtt payload or post body

Any

outAction

object

Any

outAction. actionType

string

* MQTT * API

outAction. radius

number

Any

outAction. target

string

Mqtt topic or API url

Any

outAction. data

string

Mqtt payload or post body

Any

data

object

Any
Examples of payload
{
  "name": "string",
  "uuid": "string",
  "type": "DEFAULT",
  "coordinate": {
    "x": 15,
    "y": 15,
    "rotation": 90
  }
}

zbos/slam/poi/edit

PUB Edit poi

Channel tags

  • SLAM

ZbosEditPoiRequest
Payload

Name

Type

Description

Accepted values

mapId

string

Any

mapName

string

Any

poi

object

Any

poi. name

string

Any

poi. uuid

string

Any

poi. type

string

Any

poi. coordinate

object

Any

poi.coordinate. x

number

Any

poi.coordinate. y

number

Any

poi.coordinate. z

number

Any

poi.coordinate. rotation

number

Any

poi.coordinate. rawX

number

Any

poi.coordinate. rawY

number

Any

poi.coordinate. rawZ

number

Any

poi.coordinate. orientation

object

Any

poi.coordinate.orientation. yaw

number

Any

poi.coordinate.orientation. pitch

number

Any

poi.coordinate.orientation. roll

number

Any

poi. inAction

object

Any

poi.inAction. actionType

string

* MQTT * API

poi.inAction. radius

number

Any

poi.inAction. target

string

Mqtt topic or API url

Any

poi.inAction. data

string

Mqtt payload or post body

Any

poi. outAction

object

Any

poi.outAction. actionType

string

* MQTT * API

poi.outAction. radius

number

Any

poi.outAction. target

string

Mqtt topic or API url

Any

poi.outAction. data

string

Mqtt payload or post body

Any

poi. data

object

Any

save

boolean

Any
Examples of payload
{
  "mapId": "123456",
  "mapName": "First floor",
  "poi": {
    "name": "Home",
    "uuid": "string",
    "type": "DEFAULT",
    "coordinate": {
      "x": 15,
      "y": 15,
      "rotation": 90
    }
  },
  "save": false
}

zbos/slam/poi/edit/event

SUB event: Edit poi

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/poi/remove/name

PUB Remove poi by name

Channel tags

  • SLAM

ZbosRemovePoiByNameRequest
Payload

Name

Type

Description

Accepted values

mapId

string

Any

mapName

string

Any

name

string

Any

save

boolean

Any
Examples of payload
{
  "mapId": "123456",
  "mapName": "First floor",
  "name": "Home",
  "save": false
}

zbos/slam/poi/remove/name/event

SUB event: Remove poi by name

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/poi/remove/uuid

PUB Remove poi by uuid

Channel tags

  • SLAM

ZbosRemovePoiByUUIDRequest
Payload

Name

Type

Description

Accepted values

mapId

string

Any

mapName

string

Any

uuid

string

Any

save

boolean

Any
Examples of payload
{
  "mapName": "First floor",
  "uuid": "abcd-qsdf-qsdfd-qsdf",
  "save": false
}

zbos/slam/poi/remove/uuid/event

SUB event: Remove poi by uuid

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/poi/moveto/uuid

PUB Move robot to poi

Channel tags

  • SLAM

ZbosMoveToPoiByUUIDRequest
Payload

Name

Type

Description

Accepted values

mapId

string

Any

mapName

string

Any

uuid

string

Any

speed

integer

Percentage value between with range 0 to 100

Any
Examples of payload
{
  "mapId": "123456",
  "mapName": "First floor",
  "uuid": "abcd-qsdf-qsdfd-qsdf",
  "speed": 50
}

zbos/slam/path/remaining/current

SUB Path remaining changed

Channel tags

  • SLAM

ZbosRemainingPathObject
Payload

Name

Type

Description

Accepted values

remainingPathPoints

array (object)

Any

remainingPathPoints. x

number

Any

remainingPathPoints. y

number

Any

remainingPathPoints. z

number

Any

remainingMilestones

array (object)

Any

remainingMilestones. x

number

Any

remainingMilestones. y

number

Any

remainingMilestones. z

number

Any
Examples of payload
{
  "remainingPathPoints": [
    {
      "x": 50,
      "y": 35,
      "z": 1
    }
  ],
  "remainingMilestones": [
    {
      "x": 50,
      "y": 35,
      "z": 1
    }
  ]
}

zbos/slam/charging/required/started

SUB Charging required

Is published when battery is low/critical to indicate the robot is going to try charge itself.

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/charging/required/stopped

SUB Battery is not critical

Is published when robot has stopped charging itself

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/charging/goto

PUB Go to charging station

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/charging/goto/started

SUB Move to charging station started

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/charging/goto/stopped

SUB Move to charging station stopped

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/charging/goto/failed

SUB Move to charging station failed

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/docking/undock/start

PUB Undock

Leave charging station

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/docking/undock/started

SUB Undocking started

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/docking/undock/finished

SUB Undocking finished

Channel tags

  • SLAM

EmptyMessage

Empty message

zbos/slam/docking/undock/failed

SUB Undocking failed

Channel tags

  • SLAM

EmptyMessage

Empty message