Skip to content

Telemetry

Telemetry reports the robot's live state to the cloud.

  • Direction: Uplink (robot → cloud)
  • Topic: a sub-key of robot/** on the local Zenoh session (e.g. robot/telemetry/motion)
  • Encoding: Cap'n Proto over Zenoh

The agent consumes motion/status/extras to maintain live robot state and relays them to the cloud (rate-limited per message type). Detected objects are forwarded as well.

Message types

Type Purpose
Motion telemetry Pose, velocity, and motion state.
Status telemetry Mode, operational status, and high-level health.
Telemetry extras Vendor-specific or supplementary fields.
Object Detected objects in the environment.

For complete field-by-field definitions of every uplink message, see the Uplink Messages reference.

Motion telemetry

Carries the robot's pose (position and orientation) and velocity. Publishing it marks the robot online; recommended rate is 1 Hz idle, max 10 Hz in motion.

See Uplink Messages → motionTelemetry for the full schema.

Status telemetry

Carries the robot's mode, operational status, e-stop state, and (optionally) battery and fuel. Recommended rate is 1 Hz.

See Uplink Messages → statusTelemetry for the full schema, including BatteryStatus, FuelStatus, and EStop.

Telemetry extras

A place for arbitrary OEM key/value readings not covered by the standard motion/status messages. Declare readings in capabilities so they render in the UI.

See Uplink Messages → telemetryExtras for the full schema.

Object

Reports a detected object. Objects are persisted by the agent.

Field Notes
id Object identifier.
name Display name.
object_type Object classification.
location Object location.
trajectory Optional motion of the object.
radius_m Object radius in meters.
scope Object scope.
timing Creation / expiry timestamps (epoch ms).

See Uplink Messages → object and Common Types → Tracked objects for the full schema (object types, geometry, and units).

Publishing