Skip to content

Mission Commands

Mission commands tell a robot what operation to run.

  • Direction: Downlink (cloud → robot)
  • Topic: the command key on the local Zenoh session (or command/** with per-type subtopics)
  • Encoding: Cap'n Proto over Zenoh

The agent receives commands, persists the ones it needs (missions, features, objects, settings), and republishes them on local Zenoh for your robot software (or the ROS 2 bridge) to act on. Scheduled missions are held by the agent and fired when due.

Command types

Command Purpose
MissionCommand Run a mission/operation. May reference a feature (e.g. a route or zone) and required capabilities.
DeleteMission Cancel/remove a mission (including a scheduled one).
SetMissionRunStatus Pause/resume/stop a specific mission run.
SetMode Set the operating mode (auto/teleop/manual/idle).
GoTo Navigate to a target.
VelocityCmd Direct velocity command.
Stop / Resume Halt or resume operation.
InvokeService Invoke an advertised capability (e.g. Mow).

Teleop is covered separately in Teleoperation; field rules and features in Field Rules.

MissionCommand fields

Known fields:

Field Notes
mission_id Mission identifier.
run_id Identifier for a specific run/execution.
name Mission name.
user_id Who requested the mission.
detail Mission detail/description.
scheduled_start_ms Epoch-ms start time. If in the future, the agent schedules it; if past, it runs immediately.
expected_end_time_ms Epoch-ms expected completion.
mission_parameters Mission-specific parameters.
capabilities Required capabilities for matching/scoping.
feature Optional associated feature (shape/route). See Field Rules.

For the complete MissionCommand schema — including MissionCapability timing, the mission-parameters structure, and the embedded spatial feature — see Command Messages → missionCommand. Every command variant is defined in the Command Messages reference.

Scheduling behavior

  • A mission with a future scheduled_start_ms is scheduled by the agent and fired when due, with a fresh run_id.
  • A mission with a past start time is forwarded immediately.
  • Missions fired too far past their start time may be skipped.

Feedback

Report progress and run status back to the cloud via Mission Feedback.