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 and CartiType are 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.

CartiType `enum`¶

Name	Number	Description
CARTI_TYPE_UNKNOWN	0	Default value. This should never be used explicitly.
CARTI_TYPE_TRAVERSE	1	A traverse mission that follows a sequence of goals.
CARTI_TYPE_TRAVERSE_PATROL	2	A traverse patrol mission that follows a sequence of goals on loops.
CARTI_TYPE_NAVIGATE	3	A single navigation mission with a predefined goal.
CARTI_TYPE_NAVIGATE_AUTO	4	An automated navigation mission that selects the best available goal from a list.

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.

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`.
`navigate_mission`	`NavigateMission`	Create a carti mission of type `Navigate`.
`navigate_auto_mission`	`NavigateAutoMission`	Create a carti mission of type `NavigateAuto`.

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.*

NavigateMission¶

A mission consisting of a single, explicitly defined goal.

Field	Message Type	Description
`goal`	`Goal` `required`	A single `Goal`

NavigateAutoMission¶

A mission that automatically selects the first unoccupied and unclaimed goal from the provided list, preferring goals with lower index values.

Field	Message Type	Description
`goals`	repeated `Goal` `required`	a list of `Goal`

JSON Request Example¶

JSON

  {
    "robotId": "carti-001",
    "mission": {
      "cartiMission": {
        "traverseMission": {
          "goals": [
            { "destinationId": "room-a" },
            { 
              "pose": {
                "xMeters": 5.2,
                "yMeters": 3.1,
                "headingRadians": 1.57
              }
            }
          ],
          "params": {}
        }
      }
    }
  }

Response¶

mission_id `string`¶

The ID of the mission created.

JSON Response Example¶

JSON

  {
    "missionId": "mission-abc123"
  }

Errors¶

ErrorCode	Description
`INVALID_ARGUMENT`	Invalid request parameters or this command is being sent to a non-Carti family robot. Tips: check that `robot_id` is not empty, `mission` is not null, or the robot is a Carti family robot.
`PERMISSION_DENIED`	Attempting to create a mission for a `robot_id` you don't own. Tip: check the spelling of the `robot_id` value.
`NOT_FOUND`	The specified robot ID does not exist or is not accessible.
`INTERNAL`	Internal server error occurred while processing the request.
`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.

GetConveyorIndex¶

Retrieves the configured conveyor indexes for the robot. Indexes represent logical positions, not physical installation:

Carti 100 (vertical): INDEX_1ST = uppermost conveyor
Carti 600 (horizontal): INDEX_1ST = front facing conveyor

Request¶

robot_id `string` `required`¶

The ID of the robot to retrieve conveyor indexes for.

JSON Request Example¶

JSON

  {
    "robotId": "carti-001"
  }

Response¶

indexes `repeated int32`¶

List of available conveyor indexes for this robot.

JSON Response Example¶

JSON

  {
    "indexes": [1, 2]
  }

Errors¶

ErrorCode	Description
`INTERNAL`	Internal server error occurred while processing the request.
`INVALID_ARGUMENT`	This command is being sent to a non-Carti family robot.
`NOT_FOUND`	The specified robot ID does not exist or is not accessible.

SubscribeConveyorStatus¶

A server side streaming RPC endpoint to get conveyor status updates for the robot. Upon subscription, the latest known conveyor states are sent immediately. Updates are streamed when any conveyor state changes.

Request¶

robot_id `string` `required`¶

The ID of the robot to subscribe to conveyor status for.

JSON Request Example¶

JSON

  {
    "robotId": "carti-001"
  }

Response¶

states `repeated ConveyorState`¶

State of all conveyors on the robot.

ConveyorState¶

Represents the state of a single conveyor.

Field	Message Type	Description
`index`	`int32`	Unique identifier for the conveyor (logical position).
`operation_state`	`OperationState` enum	Current operation state of the conveyor motor.
`payload_state`	`PayloadState` enum	Current state of the payload on the conveyor.
`health_state`	`HealthState` enum	Current health of the conveyor.
`installation_state`	`InstallationState` enum	Current installation state of the conveyor.

OperationState `enum`¶

Name	Number	Description
OPERATION_STATE_UNKNOWN	0	Default value. It means the `operation_state` field is not returned.
OPERATION_STATE_ROLLING	1	The conveyor's motor is rolling in any direction.
OPERATION_STATE_STOP	2	The conveyor's motor is stopped.

PayloadState `enum`¶

Name	Number	Description
PAYLOAD_STATE_UNKNOWN	0	Default value. It means the `payload_state` field is not returned.
PAYLOAD_STATE_LOADED	1	The conveyor has a payload.
PAYLOAD_STATE_EMPTY	2	The conveyor is empty.

HealthState `enum`¶

Name	Number	Description
HEALTH_STATE_UNKNOWN	0	Default value. It means the `health_state` field is not returned.
HEALTH_STATE_OK	1	The conveyor is installed and functioning.
HEALTH_STATE_ERROR	2	The conveyor is not functioning.

InstallationState `enum`¶

Name	Number	Description
INSTALLATION_STATE_UNKNOWN	0	Default value. It means the `installation_state` field is not returned.
INSTALLATION_STATE_INSTALLED	1	The conveyor is installed.
INSTALLATION_STATE_NOT_INSTALLED	2	The conveyor is not installed.

JSON Response Example¶

JSON

{
  "states": [
    {
      "index": 1,
      "operationState": "OPERATION_STATE_ROLLING",
      "payloadState": "PAYLOAD_STATE_LOADED",
      "healthState": "HEALTH_STATE_OK",
      "installationState": "INSTALLATION_STATE_INSTALLED"
    },
    {
      "index": 2,
      "operationState": "OPERATION_STATE_STOP",
      "payloadState": "PAYLOAD_STATE_EMPTY",
      "healthState": "HEALTH_STATE_OK",
      "installationState": "INSTALLATION_STATE_INSTALLED"
    }
  ]
}

Errors¶

ErrorCode	Description
`PERMISSION_DENIED`	Attempting to request conveyor status for a `robot_id` you don't own. Tip: check the spelling of the `robot_id` value.
`INTERNAL`	Internal server error occurred while processing the request.

ControlConveyor¶

Controls conveyor motor operations for the specified conveyor indexes. This call allows manual control of conveyor motors for clockwise/counter-clockwise rotation or stop commands.

Request¶

robot_id `string` `required`¶

The ID of the robot that will receive this command.

commands `repeated carti.ConveyorMotorCommand` `required`¶

List of conveyor motor commands to execute.

ConveyorMotorCommand¶

Field	Message Type	Description
`index`	`int32`	The target conveyor to control.
`command`	`CommandConveyorMotor` enum	The motor command to execute.

CommandConveyorMotor `enum`¶

Name	Number	Description
COMMAND_CONVEYOR_MOTOR_UNKNOWN	0	Default value. This should never be used explicitly.
COMMAND_CONVEYOR_MOTOR_STOP	1	Stop the conveyor.
COMMAND_CONVEYOR_MOTOR_CW	2	Rotate the conveyor clockwise.
COMMAND_CONVEYOR_MOTOR_CCW	3	Rotate the conveyor counter-clockwise.

JSON Request Example¶

JSON

  {
    "robotId": "carti-001",
    "commands": [
      {
        "index": 1,
        "command": "COMMAND_CONVEYOR_MOTOR_CW"
      },
      {
        "index": 2,
        "command": "COMMAND_CONVEYOR_MOTOR_STOP"
      }
    ]
  }

Response¶

(No fields defined)

JSON Response Example¶

JSON

{}

Errors¶

ErrorCode	Description
`INVALID_ARGUMENT`	This command is being sent to a non-Carti family robot, or one or more conveyor indexes are not installed on the robot.
`NOT_FOUND`	The specified robot ID does not exist or is not accessible.
`INTERNAL`	Internal server error occurred while processing the request.
`FAILED_PRECONDITION`	The robot is in an error state that prevents conveyor control.

Carti

CreateMission¶

carti.Feedback enum¶

CartiType enum¶

Request¶

robot_id string required¶

mission Mission required¶

carti_mission carti.Mission¶

TraverseMission¶

TraversePatrolMission¶

NavigateMission¶

NavigateAutoMission¶

JSON Request Example¶

Response¶

mission_id string¶

JSON Response Example¶

Errors¶

GetConveyorIndex¶

Request¶

robot_id string required¶

JSON Request Example¶

Response¶

indexes repeated int32¶

JSON Response Example¶

Errors¶

SubscribeConveyorStatus¶

Request¶

robot_id string required¶

JSON Request Example¶

Response¶

states repeated ConveyorState¶

ConveyorState¶

OperationState enum¶

PayloadState enum¶

HealthState enum¶

InstallationState enum¶

JSON Response Example¶

Errors¶

ControlConveyor¶

Request¶

robot_id string required¶

commands repeated carti.ConveyorMotorCommand required¶

ConveyorMotorCommand¶

CommandConveyorMotor enum¶

JSON Request Example¶

Response¶

JSON Response Example¶

Errors¶

carti.Feedback `enum`¶

CartiType `enum`¶

robot_id `string` `required`¶

mission `Mission` `required`¶

carti_mission `carti.Mission`¶

mission_id `string`¶

robot_id `string` `required`¶

indexes `repeated int32`¶

robot_id `string` `required`¶

states `repeated ConveyorState`¶

OperationState `enum`¶

PayloadState `enum`¶

HealthState `enum`¶

InstallationState `enum`¶

robot_id `string` `required`¶

commands `repeated carti.ConveyorMotorCommand` `required`¶

CommandConveyorMotor `enum`¶