API Overview

The OM1 autonomy REST APIs — system endpoints, live monitoring, and where each feature's endpoints live.

The OM1 ROS2 SDK exposes two REST APIs for controlling and monitoring an autonomous robot:

API

Port

What it's for

Orchestrator API

5000

Start/stop autonomy processes and manage maps, routes, and locations

Nav2 API

5001

Read live navigation and localization data

Orchestrator endpoints return a JSON object with a status field ("success", "partial_success", or "error"). Several GET endpoints return their payload as a JSON-encoded string in the message field — decode message a second time to read the fields.

This page covers the system-wide endpoints that aren't tied to a single feature. Each feature's own endpoints are documented in that feature's guide — see the index below.

System status

`GET /status`

The one call to check what's running and the battery state before starting or stopping anything. The message field is a JSON-encoded string:

{
  "status": "success",
  "message": "{\"slam_status\": \"stopped\", \"nav2_status\": \"running\", \"nav3d_status\": \"stopped\", \"base_control_status\": \"running\", \"patrol_status\": \"stopped\", \"charging_dock_status\": \"stopped\", \"is_charging\": false, \"battery_soc\": 87.0, \"battery_current\": -500.0, \"battery_voltage\": 32.4, \"battery_temperature\": 25.0, \"current_patrol\": {\"map_name\": \"kitchen\", \"route_name\": null}, \"robot_type\": \"go2\", \"slam_3d_supported\": true}"
}

Decoded message fields:

Field

Type

Description

slam_status, nav2_status, nav3d_status, base_control_status, patrol_status, charging_dock_status

"running" | "stopped"

Per-process status

is_charging

bool

Whether the robot is charging

battery_soc

float

Battery state of charge (%)

battery_current

float

mA; negative = discharging, positive = charging

battery_voltage

float

Pack voltage (V)

battery_temperature

float

°C

current_patrol

object | null

Map (and route, if any) currently loaded, or null. Precedence: patrol > Nav2 > 3D nav; only map_name is guaranteed

robot_type

str

e.g. "go2", "g1", "tron", "m20"

slam_3d_supported

bool

Whether this robot has a 3D SLAM stack — use this to decide whether to offer 3D SLAM

Base control

Base control is the low-level motor layer; it must be running for the robot to move, and it's a prerequisite rather than a feature of its own.

curl -X POST http://<robot>:5000/start/base_control -H 'Content-Type: application/json' -d '{}'
curl -X POST http://<robot>:5000/stop/base_control  -H 'Content-Type: application/json' -d '{}'

/start/base_control accepts an optional launch_file (default base_control_launch.py), and returns 400 if SLAM or Nav2 is already running.