SLAM

API for communication with ZBOS by Zora Robotics.

Channels

zbos/slam/start

publish

Start slam service

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/start/response/{key}

subscribe

response: Start slam

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/stop

publish

Stop slam service

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/stop/response/{key}

subscribe

response: Stop slam

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/error

subscribe

ERROR in Slam

Channel tags
  • SLAM

Message 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

subscribe

One or more collisions have started

Channel tags
  • SLAM

Message Array<AvailableSensor>
Payload

Name

Type

Description

Accepted values

Message Payload

array(object)

Any

Message Payload.id

string

Any

Message Payload.type

object

  • TOUCHSENSOR

  • TOUCHSENSOR_GROUP

Message Payload.type.name

string

Any

Message Payload.type.ordinal

integer

Any

Message Payload.translationkey

string

Any

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

zbos/slam/collision/end/event

subscribe

One or more collisions have stopped

Channel tags
  • SLAM

Message Array<AvailableSensor>
Payload

Name

Type

Description

Accepted values

Message Payload

array(object)

Any

Message Payload.id

string

Any

Message Payload.type

object

  • TOUCHSENSOR

  • TOUCHSENSOR_GROUP

Message Payload.type.name

string

Any

Message Payload.type.ordinal

integer

Any

Message Payload.translationkey

string

Any

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

zbos/slam/status/get

publish

Get SLAM status

Channel tags
  • SLAM

Message 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}

subscribe

response: Get SLAM status

Channel tags
  • SLAM

Message SlamStatus
Payload

Name

Type

Description

Accepted values

mappingConfigurable

boolean

Any

mappingEnabled

boolean

Any

Examples of payload
{
  "mappingConfigurable": true,
  "mappingEnabled": true
}

zbos/slam/status/event

subscribe

event: Status SLAM

Channel tags
  • SLAM

Message SlamStatus
Payload

Name

Type

Description

Accepted values

mappingConfigurable

boolean

Any

mappingEnabled

boolean

Any

Examples of payload
{
  "mappingConfigurable": true,
  "mappingEnabled": true
}

zbos/slam/mapview/clear

publish

Clear current map view

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/mapview/clear/event

subscribe

event: Map view cleared

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/mapview/current

subscribe

event: Map view changed

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Example of payload (generated)
"string"

zbos/slam/mapview/current/get

publish

Get current map view

Channel tags
  • SLAM

Message 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}

subscribe

response: Get current map view

Channel tags
  • SLAM

Message RemoteMapResponseObject
Payload

Name

Type

Description

Accepted values

mapName

string

Any

data

string

Any

Examples of payload
{
  "mapName": "string",
  "data": "string"
}

zbos/slam/mapping/enable

publish

Enable SLAM mapping

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/mapping/disable

publish

Disable SLAM mapping

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/mapping/extend/start

publish

Start extending SLAM mapping

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/mapping/extend/cancel

publish

Stop extending SLAM mapping

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/mapping/extend/get

publish

Get extending SLAM mapping

Channel tags
  • SLAM

Message 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}

subscribe

response: Get extending SLAM mapping

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Example of payload (generated)
"string"

zbos/slam/mapping/extend/started

subscribe

event: SLAM mapping extending started

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/mapping/extend/stopped

subscribe

event: SLAM mapping extending stopped

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/mapping/extend/failed

subscribe

event: SLAM mapping extending failed

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/mapping/extend/canceled

subscribe

event: SLAM mapping extending canceled

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/maps/list/get

publish

Get maps

Channel tags
  • SLAM

Message 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}

subscribe

event: Get all maps

Channel tags
  • SLAM

Message Array<String>
Payload

Name

Type

Description

Accepted values

Message Payload

array(string)

Any

Example of payload (generated)
[
  "string"
]

zbos/slam/maps/get/current

publish

Get current maps

Channel tags
  • SLAM

Message 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}

subscribe

event: Get current maps

Channel tags
  • SLAM

Message SlamMap
Payload

Name

Type

Description

Accepted values

mapName

string

Any

poiList

array(object)

Any

poiList.name

string

Any

poiList.uuid

string

Any

poiList.type

object

  • DEFAULT

  • CHARGING_STATION

  • INTERACTIVE

poiList.type.name

string

Any

poiList.type.ordinal

integer

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

object

  • MQTT

  • API

poiList.inAction.actionType.name

string

Any

poiList.inAction.actionType.ordinal

integer

Any

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

object

  • MQTT

  • API

poiList.outAction.actionType.name

string

Any

poiList.outAction.actionType.ordinal

integer

Any

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

Examples of payload
{
  "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

publish

Load map

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Examples of payload
"string"

zbos/slam/maps/load/event

subscribe

event: Load map

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/maps/save

publish

Save map

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Examples of payload
"string"

zbos/slam/maps/save/event

subscribe

event: Save map

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/maps/delete

publish

Delete map

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Examples of payload
"string"

zbos/slam/maps/delete/all

publish

Deletes all maps

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/maps/delete/event

subscribe

event: Delete map

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/location/current

subscribe

event: Location changed

Channel tags
  • SLAM

Message 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

publish

Get robot location

Channel tags
  • SLAM

Message 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}

subscribe

response: Get robot location

Channel tags
  • SLAM

Message 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

publish

Set robot location

Channel tags
  • SLAM

Message 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}

subscribe

response: Set robot location

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/location/recover

publish

Recover robot location

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/location/recover/started

subscribe

Location revocery started

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/location/recover/stopped

subscribe

Location revocery stopped

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/location/recover/failed

subscribe

Location revocery failed

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/location/reset/chargingstation

publish

Reset robot to charging station

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/location/reset/chargingstation/started

subscribe

Reset robot to charging station started

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/location/reset/chargingstation/stopped

subscribe

Reset robot to charging station stopped

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/location/home

subscribe

Home location changed

Channel tags
  • SLAM

Message 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

publish

Get home location

Channel tags
  • SLAM

Message 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}

subscribe

response: Get home location

Channel tags
  • SLAM

Message 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

publish

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

Message WallClearRequest
Payload

Name

Type

Description

Accepted values

save

boolean

Any

Examples of payload
{
  "save": true
}

zbos/slam/walls/clear/event

subscribe

response: Clear all walls

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/walls/current

subscribe

Walls changed

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Example of payload (generated)
"string"

zbos/slam/walls/current/get

publish

Get current walls

Channel tags
  • SLAM

Message 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}

subscribe

response: Get current walls

Channel tags
  • SLAM

Message 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

publish

Add wall

Channel tags
  • SLAM

Message 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

subscribe

event: Add wall

Channel tags
  • SLAM

Message 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

publish

Remove wall

Channel tags
  • SLAM

Message 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

publish

Remove walls

Channel tags
  • SLAM

Message 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

subscribe

event: Remove wall

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/walls/update

publish

Update wall

Channel tags
  • SLAM

Message 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

publish

Update walls

Channel tags
  • SLAM

Message 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

subscribe

event: Update wall

Channel tags
  • SLAM

Message 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/interaction/moveto

publish

Move robot to coordinates

Channel tags
  • SLAM

Message ZbosMoveToPointRequest
Payload

Name

Type

Description

Accepted values

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
{
  "mapName": "First floor",
  "coordinate": {
    "x": 39,
    "y": 40,
    "z": 0
  }
}

zbos/slam/interaction/moveto/started

subscribe

MoveTo started

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Example of payload (generated)
"string"

zbos/slam/interaction/moveto/stopped

subscribe

MoveTo stopped

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Example of payload (generated)
"string"

zbos/slam/interaction/moveto/failed

subscribe

MoveTo failed

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Example of payload (generated)
"string"

zbos/slam/interaction/moveto/aborted

subscribe

MoveTo aborted

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Example of payload (generated)
"string"

zbos/slam/interaction/moveto/blocked

subscribe

MoveTo Blocked

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Example of payload (generated)
"string"

zbos/slam/interaction/moveto/retrying

subscribe

MoveTo retrying

Channel tags
  • SLAM

Message String
Payload

Name

Type

Description

Accepted values

Message Payload

string

Any

Example of payload (generated)
"string"

zbos/slam/interaction/stop

publish

Stop moving

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/interaction/stop/event

subscribe

event: Movement stopped

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/laserscan/enable

publish

Enable laserscan

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/laserscan/disable

publish

disable laserscan

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/laserscan/current

subscribe

event: Laserscan changed

Channel tags
  • SLAM

Message ZbosLaserScan
Payload

Name

Type

Description

Accepted values

angle

number

Any

distance

number

Any

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

zbos/slam/poi/current

subscribe

event: POI changed

Channel tags
  • SLAM

Message SlamMap
Payload

Name

Type

Description

Accepted values

mapName

string

Any

poiList

array(object)

Any

poiList.name

string

Any

poiList.uuid

string

Any

poiList.type

object

  • DEFAULT

  • CHARGING_STATION

  • INTERACTIVE

poiList.type.name

string

Any

poiList.type.ordinal

integer

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

object

  • MQTT

  • API

poiList.inAction.actionType.name

string

Any

poiList.inAction.actionType.ordinal

integer

Any

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

object

  • MQTT

  • API

poiList.outAction.actionType.name

string

Any

poiList.outAction.actionType.ordinal

integer

Any

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

Examples of payload
{
  "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

publish

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

Message ZbosClearPoiRequest
Payload

Name

Type

Description

Accepted values

mapName

string

Any

save

boolean

Any

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

zbos/slam/poi/clear/event

subscribe

event: Clear all pois

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/poi/list/all/get

publish

Get list of pois for all maps

Channel tags
  • SLAM

Message 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}

subscribe

event: Get list of pois for all maps

Channel tags
  • SLAM

Message Array<SlamMap>
Payload

Name

Type

Description

Accepted values

Message Payload

array(object)

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

object

  • DEFAULT

  • CHARGING_STATION

  • INTERACTIVE

Message Payload.poiList.type.name

string

Any

Message Payload.poiList.type.ordinal

integer

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

object

  • MQTT

  • API

Message Payload.poiList.inAction.actionType.name

string

Any

Message Payload.poiList.inAction.actionType.ordinal

integer

Any

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

object

  • MQTT

  • API

Message Payload.poiList.outAction.actionType.name

string

Any

Message Payload.poiList.outAction.actionType.ordinal

integer

Any

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

Examples of payload
{
  "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

publish

Get list of pois for current map

Channel tags
  • SLAM

Message ZbosMapDetailRequest
Payload

Name

Type

Description

Accepted values

key

string

Required random key

Any

mapName

string

Any

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

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

subscribe

event: Get list of pois for current map

Channel tags
  • SLAM

Message SlamMap
Payload

Name

Type

Description

Accepted values

mapName

string

Any

poiList

array(object)

Any

poiList.name

string

Any

poiList.uuid

string

Any

poiList.type

object

  • DEFAULT

  • CHARGING_STATION

  • INTERACTIVE

poiList.type.name

string

Any

poiList.type.ordinal

integer

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

object

  • MQTT

  • API

poiList.inAction.actionType.name

string

Any

poiList.inAction.actionType.ordinal

integer

Any

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

object

  • MQTT

  • API

poiList.outAction.actionType.name

string

Any

poiList.outAction.actionType.ordinal

integer

Any

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

Examples of payload
{
  "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

publish

Add poi

Channel tags
  • SLAM

Message ZbosAddPoiRequest
Payload

Name

Type

Description

Accepted values

mapName

string

Any

poi

object

Any

poi.name

string

Any

poi.uuid

string

Any

poi.type

object

  • DEFAULT

  • CHARGING_STATION

  • INTERACTIVE

poi.type.name

string

Any

poi.type.ordinal

integer

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

object

  • MQTT

  • API

poi.inAction.actionType.name

string

Any

poi.inAction.actionType.ordinal

integer

Any

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

object

  • MQTT

  • API

poi.outAction.actionType.name

string

Any

poi.outAction.actionType.ordinal

integer

Any

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

save

boolean

Any

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

zbos/slam/poi/add/event

subscribe

event: Add poi

Channel tags
  • SLAM

Message Poi
Payload

Name

Type

Description

Accepted values

name

string

Any

uuid

string

Any

type

object

  • DEFAULT

  • CHARGING_STATION

  • INTERACTIVE

type.name

string

Any

type.ordinal

integer

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

object

  • MQTT

  • API

inAction.actionType.name

string

Any

inAction.actionType.ordinal

integer

Any

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

object

  • MQTT

  • API

outAction.actionType.name

string

Any

outAction.actionType.ordinal

integer

Any

outAction.radius

number

Any

outAction.target

string

Mqtt topic or API url

Any

outAction.data

string

Mqtt payload or post body

Any

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

zbos/slam/poi/edit

publish

Edit poi

Channel tags
  • SLAM

Message ZbosEditPoiRequest
Payload

Name

Type

Description

Accepted values

mapName

string

Any

poi

object

Any

poi.name

string

Any

poi.uuid

string

Any

poi.type

object

  • DEFAULT

  • CHARGING_STATION

  • INTERACTIVE

poi.type.name

string

Any

poi.type.ordinal

integer

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

object

  • MQTT

  • API

poi.inAction.actionType.name

string

Any

poi.inAction.actionType.ordinal

integer

Any

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

object

  • MQTT

  • API

poi.outAction.actionType.name

string

Any

poi.outAction.actionType.ordinal

integer

Any

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

save

boolean

Any

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

zbos/slam/poi/edit/event

subscribe

event: Edit poi

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/poi/remove/name

publish

Remove poi by name

Channel tags
  • SLAM

Message ZbosRemovePoiByNameRequest
Payload

Name

Type

Description

Accepted values

mapName

string

Any

name

string

Any

save

boolean

Any

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

zbos/slam/poi/remove/name/event

subscribe

event: Remove poi by name

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/poi/remove/uuid

publish

Remove poi by uuid

Channel tags
  • SLAM

Message ZbosRemovePoiByUUIDRequest
Payload

Name

Type

Description

Accepted values

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

subscribe

event: Remove poi by uuid

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/poi/moveto/uuid

publish

Move robot to poi

Channel tags
  • SLAM

Message ZbosMoveToPoiByUUIDRequest
Payload

Name

Type

Description

Accepted values

mapName

string

Any

uuid

string

Any

speed

integer

Percentage value between with range 0 to 100

Any

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

zbos/slam/path/remaining/current

subscribe

Path remaining changed

Channel tags
  • SLAM

Message 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

subscribe

Charging required

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

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/charging/required/stopped

subscribe

Battery is not critical

Is published when robot has stopped charging itself

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/charging/goto

publish

Go to charging station

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/charging/goto/started

subscribe

Move to charging station started

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/charging/goto/stopped

subscribe

Move to charging station stopped

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/charging/goto/failed

subscribe

Move to charging station failed

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/docking/undock/start

publish

Undock

Leave charging station

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/docking/undock/started

subscribe

Undocking started

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/docking/undock/finished

subscribe

Undocking finished

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}

zbos/slam/docking/undock/failed

subscribe

Undocking failed

Channel tags
  • SLAM

Message EmptyMessage

Empty message

Payload

Name

Type

Description

Accepted values

Message Payload

object

Any

Example of payload (generated)
{}