Mission

Message Types

Destination

Field	Type	Description
destination_id	string

Zone

Field	Type	Description
zone_id	string

Goal

Goal allows one of the following goals

Field	Type	Description
destination	Destination
zone	Zone
pose	Pose

Mission

Field	Type	Description
type	Type enum
goals	Goal repeated	The list of goals or destinations for the mission.
override_params	MissionParams	Override parameters for the mission settings, allowing specific configuration for this mission instance.

MissionCommand

Field	Type	Description
mission_id	string
command	Command enum

MissionParams

MissionParams allows one of these 2 params

Field	Type	Description
traverse_params	TraverseParams
loop_params	LoopParams

LoopParams

Field	Type	Description
mode	Mode repeated

TraverseParams

Field	Type	Description
mode	Mode repeated

MissionState

Field	Type	Description
mission_id	string
state	State enum
goals	Goal repeated	All goals for a given mission.
current_goal_index	int32
navigation_status	NavigationStatus enum
feedback	Any

LoopParamsModeEnum

Name	Number	Description
MODE_UNKNOWN	0
MODE_DEFAULT	1
MODE_BUSSING	2

MissionCommandEnum

Name	Number	Description
COMMAND_UNKNOWN	0
COMMAND_CANCEL	1
COMMAND_PAUSE	2
COMMAND_RESUME	3
COMMAND_FINISH	4

MissionStateEnum

Name	Number	Description
STATE_UNKNOWN	0
STATE_DEFAULT	1	Initial state when no mission has been run (e.g., empty feedback).
STATE_RUNNING	2
STATE_PAUSED	3
STATE_CANCELED	4
STATE_SUCCEEDED	5
STATE_FAILED	6

MissionTypeEnum

Name	Number	Description
TYPE_UNKNOWN	0	Default value, indicates an unknown or unspecified mission type.
TYPE_ONEOFF	1	A single-goal mission.
TYPE_ONEOFF_AUTO	2	An automated single-goal mission that selects the best available goal.
TYPE_TRAVERSE	3	A mission involving multiple destinations until a condition, such as weight limit, is met.
TYPE_LOOP	4	A mission that repeatedly visits multiple destinations until a condition, such as weight limit, is met.
TYPE_WAIT	5	A mission that remains at a specific location until triggered by an external event.

MissionStateNavigationStatusEnum

Name	Number	Description
NAVIGATION_STATUS_UNKNOWN	0	Default value, indicates an unknown or undefined navigation status.
NAVIGATION_STATUS_FINISHED	1	Indicates the robot has successfully arrived at its goal.
NAVIGATION_STATUS_FAILED	2	Indicates the robot failed to reach its goal.
NAVIGATION_STATUS_STUCK	3	Indicates the robot is temporarily stuck but has not yet failed.
NAVIGATION_STATUS_DOCKING	4	Indicates the robot is in the process of docking.
NAVIGATION_STATUS_UNDOCKING	5	Indicates the robot is undocking.
NAVIGATION_STATUS_NAVIGATING	6	Indicates the robot is navigating to a destination.