Telemetry Mappings
Map your robot's data onto the messages and topics the agent expects.
Whichever integration path you use, the agent expects telemetry and commands in a fixed set of message types on a fixed set of topics. Integration is largely the work of mapping your robot's data onto that contract.
For the full message-type catalog (fields and schemas), see Telemetry — the canonical reference. This page focuses on mapping guidance.
Uplink: what to publish
Map your robot's data to these uplink message types and publish to the local
Zenoh robot/** key space (e.g. robot/telemetry/motion):
| Your robot data | Maps to | Reference |
|---|---|---|
| Pose, velocity, odometry | Motion telemetry | Telemetry |
| Mode, battery, operational state | Status telemetry | Telemetry |
| Vendor-specific extra fields | Telemetry extras | Telemetry |
| Faults / diagnostics / events | Fault, Event | Health and Status |
| Detected objects | Object | Telemetry |
| Mission progress / run status | Mission feedback | Mission Feedback |
The agent uses motion/status/extras to maintain live robot state and forwards the other types onward to the cloud.
Downlink: what to consume
Subscribe to the local command key (or command/**) and translate each command into
action on your robot:
| Command | Reference |
|---|---|
| Mission commands (and delete-mission) | Mission Commands |
| Teleop (gamepad/joy) | Teleoperation |
| Mode / velocity / go-to / stop / resume | Mission Commands |
| Settings updates | Robot configuration |
| Field rules, features (shapes/routes) | Field Rules |
| Invoke service | Capabilities |
Mapping approaches
- ROS 2: configure the bridge to translate between your ROS 2 topics and the contract. The bridge configuration and topic-mapping format are coming soon — contact support@rovernexus.com for early access.
- Native: publish/subscribe Cap'n Proto on Zenoh directly, using the schema and Rust/Python/C++ bindings from the client libraries. See Custom Integrations.
Rate and units
- The agent applies per-message-type rate limiting on the uplink; publish at your natural rate and the agent paces what it relays.
- Expected units and coordinate frames for pose/velocity fields are coming soon.