Cloud API Service

The definition of Bear Cloud API service.

Fleet Management

ListRobotIDs

• Request Type: ListRobotIDsRequest
• Response Type: ListRobotIDsResponse
• Description: List all robot IDs that you have permissions for and satisfies the given filter options regardless of robot status.

Map

GetCurrentMapContent

• Request Type: GetCurrentMapContentRequest
• Response Type: GetCurrentMapContentResponse
• Description: Retrieve the current map content data, which is loaded on the robot.

GetLocation

• Request Type: GetLocationRequest
• Response Type: GetLocationResponse
• Description: Retrieve the current location data to which the robot is connected.
  If the robot is offline, it uses the cached Location data.

GetMap

• Request Type: GetMapRequest
• Response Type: GetMapResponse
• Description: Retrieve the map corresponding to a given map_id.
  If offline, it uses the cached MapData data.

GetMapAnnotation

• Request Type: GetMapAnnotationRequest
• Response Type: GetMapAnnotationResponse
• Description: Retrieve annotation data for a specified annotation_id.
  If offline, it uses the cached Annotation data.

GetMapData

• Request Type: GetMapDataRequest
• Response Type: GetMapDataResponse
• Description: Retrieve map data for a specified map_data_id.
  If offline, it uses the cached MapData data.

SwitchMap

• Request Type: SwitchMapRequest
• Response Type: SwitchMapResponse
• Description: Switch the current map to a specified map.
  The request should specify a floor level and section index to be used. Returns the map_id of the switched map.

Mission

AppendMission

• Request Type: AppendMissionRequest
• Response Type: AppendMissionResponse
• Description: Append the given mission to the end of the queue. The mission will be added in the order it is received.

ChargeRobot

• Request Type: ChargeRobotRequest
• Response Type: ChargeRobotResponse
• Description: Create a mission to go charge a robot regardless of battery state.
  The call will fail if the robot is already on a different mission, which needs to be canceled before the robot can be charged.

CreateMission

• Request Type: CreateMissionRequest
• Response Type: CreateMissionResponse
• Description: Create a mission for a given type.
  The call will fail if the robot cannot go on the requested mission.

SubscribeMissionStatus

• Request Type: SubscribeMissionStatusRequest
• Response Type: SubscribeMissionStatusResponse
• Description: Subscribe to robot's mission status.
  Upon subscription, the server immediately sends the latest known mission status, followed by updates whenever the mission status changes.

UpdateMission

• Request Type: UpdateMissionRequest
• Response Type: UpdateMissionResponse
• Description: Update the specified mission with the given command.
  The call will fail if the robot is not on the specified mission or cannot execute the command.

Navigation

LocalizeRobot

• Request Type: LocalizeRobotRequest
• Response Type: LocalizeRobotResponse
• Description: Localize the robot to a localization goal.
  If the goal is accepted, subcribe to SubscribeLocalizationStatus to get the localization status.

SetRobotPose

• Request Type: SetRobotPoseRequest
• Response Type: SetRobotPoseResponse
• Description: Manually set the robot pose given a pose on the map and a covariance matrix.

SubscribeLocalizationStatus

• Request Type: SubscribeLocalizationStatusRequest
• Response Type: SubscribeLocalizationStatusResponse
• Description: Subscribe to the robot's localization status.
  Upon subscription, the latest known localization status will be sent. If the robot is actively localizing, statuses will be published upon changes.

SubscribeRobotPose

• Request Type: SubscribeRobotPoseRequest
• Response Type: SubscribeRobotPoseResponse
• Description: Subscribe to the robot's pose.
  Upon subscription, the server provides regular updates (5Hz) of the robot's estimated position.

Settings

GetProfile

• Request Type: GetProfileRequest
• Response Type: GetProfileResponse
• Description: Retrieve user-defined profile with customizable settings for a profile_id.

GetRobotProfiles

• Request Type: GetRobotProfilesRequest
• Response Type: GetRobotProfilesResponse
• Description: Retrieve a set of user-defined profiles for a specific robot_id.

GetSoundFileUploadURL

• Request Type: GetSoundFileUploadURLRequest
• Response Type: GetSoundFileUploadURLResponse
• Description: Retrieve the sound file upload URL for specific sound_id.

ListProfileIDs

• Request Type: ListProfileIDsRequest
• Response Type: ListProfileIDsResponse
• Description: List all profile IDs for a specific location_id.

Robot Status

SubscribeBatteryStatus

• Request Type: SubscribeBatteryStatusRequest
• Response Type: SubscribeBatteryStatusResponse
• Description: Subscribe to the robots' battery status.
  Upon subscription, the server immediately sends the latest known battery status, followed by updates whenever the battery status changes.

SubscribeRobotStatus

• Request Type: SubscribeRobotStatusRequest
• Response Type: SubscribeRobotStatusResponse
• Description: Subscribe to connection and operation state of the robot
  Upon subscription, the server immediately sends the latest known operation status, followed by updates whenever the operation status changes.

SubscribeTrayStatuses

• Request Type: SubscribeTrayStatusesRequest
• Response Type: SubscribeTrayStatusesResponse
• Description: Subscribe for high level tray status.
  This is only available for robots with trays (e.g. Servi, Plus). Upon subscription, the latest known tray status will be sent, followed by snapshot updates of all tray states when any state is updated. Weight changes are updated at a 10g granularity threshold. Robots with trays that does not have weight sensor will have an UNKNOWN load state and no weight data streamed.

Robot System

GetRobotSystemInfo

• Request Type: GetRobotSystemInfoRequest
• Response Type: GetRobotSystemInfoResponse
• Description: Get the overall robot system information.
  When called, the server returns robot system information. The system info tends to be static and does not change often.

Message Types

AppendMissionRequest

Field	Type	Description
robot_id	string
mission	Mission

AppendMissionResponse

Field	Type	Description
mission_id	string

ChargeRobotRequest

Field	Type	Description
robot_id	string

ChargeRobotResponse

Field	Type	Description
mission_id	string

CreateMissionRequest

Field	Type	Description
robot_id	string
mission	Mission

CreateMissionResponse

Field	Type	Description
mission_id	string

GetCurrentMapContentRequest

Field	Type	Description
robot_id	string

GetCurrentMapContentResponse

Field	Type	Description
map_content	MapContent

GetLocationRequest

Field	Type	Description
location_id	string	The unique identifier of the location. The ID is typically a string of uppercase letters and numbers. Example: "QSVS".

GetLocationResponse

Field	Type	Description
location	Location	Information about the specified location, as represented by a location.Location message. This includes all relevant details about the location, including display name, floor, and section info.

GetMapAnnotationRequest

Field	Type	Description
annotation_id	string

GetMapAnnotationResponse

Field	Type	Description
annotation	Annotation

GetMapDataRequest

Field	Type	Description
map_data_id	string

GetMapDataResponse

Field	Type	Description
map_data	MapData	Information about the map data which includes all relevant details about the map data, especially the map.

GetMapRequest

Field	Type	Description
map_id	string

GetMapResponse

Field	Type	Description
map	Map	Contains all relevant information about the requested map, including its metadata and configuration details.

GetProfileRequest

Field	Type	Description
profile_id	string

GetProfileResponse

Field	Type	Description
profile	Profile

GetRobotProfilesRequest

Field	Type	Description
robot_id	string

GetRobotProfilesResponse

Field	Type	Description
profiles	Profile

GetRobotSystemInfoRequest

Field	Type	Description
robot_id	string

GetRobotSystemInfoResponse

Field	Type	Description
robot_system_info	RobotSystemInfo	robot_system_info contains ID, display name, family, and software version of the robot.

GetSoundFileUploadURLRequest

Field	Type	Description
sound_id	string

GetSoundFileUploadURLResponse

Field	Type	Description
upload_url	string

ListProfileIDsRequest

Field	Type	Description
location_id	string

ListProfileIDsResponse

Field	Type	Description
profile_ids	string

ListRobotIDsRequest

Field	Type	Description
filter	RobotFilter

ListRobotIDsResponse

Field	Type	Description
total_robots	int32
robot_ids	string	This might not have all the robot IDs if there are too many. It will have all the robot IDs if the number of robot_ids is the same as total_robots.

LocalizeRobotRequest

Field	Type	Description
robot_id	string
goal	LocalizationGoal

LocalizeRobotResponse

• (No fields defined)

SetRobotPoseRequest

Field	Type	Description
robot_id	string
pose_with_covariance	PoseWithCovariance

SetRobotPoseResponse

• (No fields defined)

SubscribeBatteryStatusRequest

Field	Type	Description
selector	RobotSelector

SubscribeBatteryStatusResponse

Field	Type	Description
metadata	EventMetadata
robot_id	string
battery_state	BatteryState

SubscribeLocalizationStatusRequest

Field	Type	Description
selector	RobotSelector

SubscribeLocalizationStatusResponse

Field	Type	Description
metadata	EventMetadata
robot_id	string
localization_state	LocalizationState

SubscribeMissionStatusRequest

Field	Type	Description
robot_id	string

SubscribeMissionStatusResponse

Field	Type	Description
metadata	EventMetadata
mission_state	MissionState

SubscribeRobotPoseRequest

Field	Type	Description
robot_id	string

SubscribeRobotPoseResponse

Field	Type	Description
metadata	EventMetadata
pose	Pose

SubscribeRobotStatusRequest

Field	Type	Description
selector	RobotSelector

SubscribeRobotStatusResponse

Field	Type	Description
metadata	EventMetadata
robot_state	RobotState	Robot state is not available when robot connection shows disconnected.

SubscribeTrayStatusesRequest

Field	Type	Description
robot_id	string

SubscribeTrayStatusesResponse

Field	Type	Description
metadata	EventMetadata
tray_states	TrayState	State of enabled trays, ordered from the top-most tray on the robot to the bottom. This state is only available for robots with trays.

SwitchMapRequest

Field	Type	Description
robot_id	string
floor_level	int32	Non-negative integer floor_level is the first key used to index the map dict. SwitchMap will raise an exception if there is no matching map. Floor level 0 denotes the lowest reachable floor.
section_index	int32	Non-negative integer section_index is the second key used to index the map dict. SwitchMap will raise an exception if there is no matching map. Section index begins at 0.

SwitchMapResponse

Field	Type	Description
map_id	string

UpdateMissionRequest

Field	Type	Description
robot_id	string
mission_command	MissionCommand

UpdateMissionResponse

• (No fields defined)