Carti

These endpoints and their message types are only available for the Carti robot family. Attempting to run a Carti commands on a non Carti robot will result in an INVALID_ARGUMENT error.

CreateMission¶

Use the shared CreateMission endpoint to send missions for Carti robots. Carti-specific missions must be sent using the appropriate request message format.

Note

When sending a Carti mission, carti.Feedback is returned in SubscribeMissionStatus response message.

carti.Feedback `enum`¶

Name	Number	Description
STATUS_UNKNOWN	0	Default value. It means `status` field is not returned.
STATUS_NAVIGATING	1	The robot is currently navigating to its goal.
STATUS_ARRIVED	2	The robot has arrived at a goal.
STATUS_DOCKING	3	The robot is performing a docking maneuver.
STATUS_UNDOCKING	4	The robot is performing an undocking maneuver.

Request¶

robot_id `string` `required`¶

The ID of the robot that will receive this command.

mission `Mission` `required`¶

Universal wrapper for mission types. Only one mission type may be set at a time.

Field (oneof)	Message Type	Description
`base_mission`	`BaseMission`	Base missions are applicable to all robot families. Refer to Mission for how to create and send a base mission.
`servi_mission`	`servi.Mission`	Servi missions are specific to the Servi robot family. Refer to Servi for how to create and send a servi mission.
`carti_mission`	`carti.Mission`	Carti missions are specific to the Carti robot family.

carti_mission `carti.Mission`¶

Use the field carti_mission to create and send a mission. Current API version supports 2 types of Carti missions.

Field (oneof)	Message Type	Description
`traverse_mission`	`TraverseMission`	Create a carti mission of type `Traverse`.
`traverse_patrol_mission`	`TraversePatrolMission`	Create a carti mission of type `TraversePatrol`.

TraverseMission
A traverse mission that navigates to one or more goals, stopping at each for a set amount of time or until directed to continue.

Field	Message Type	Description
`goals`	repeated `Goal` `required`	a list of `Goal`
`params`	`TraverseParams` `optional`	*There is no param defined in this API version.*

TraversePatrolMission
A traverse patrol mission that navigates to one or more goals and continuously loops through the goals, stopping at each for a set amount of time or until directed to continue.

Field	Message Type	Description
`goals`	repeated `Goal` `required`	a list of `Goal`
`params`	`TraversePatrolParam` `optional`	*There is no param defined in this API version.*

JSON Request Example¶

JSON

  {
    "robotId": "carti-001",
    "mission": {
      "cartiMission": {
        "traverseMission": {
          "goals": [
            { "destinationId": "room-a" },
            { "destinationId": "room-b" }
          ],
          "params": {}
        }
      }
    }
  }

Response¶

mission_id `string`¶

The ID of the mission created.

JSON Response Example¶

JSON

  {
    "missionId": "mission-abc123"
  }

Errors¶

ErrorCode	Description
`INVALID_ARGUMENT`	This command is sending to is not a Carti family robot.
`FAILED_PRECONDITION`	The robot is already executing another mission. This command is valid if current mission is in terminal state, e.g Cancelled, Succeeded, Failed.