> For the complete documentation index, see [llms.txt](https://docs.openmind.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.openmind.com/full-autonomy-guidelines/api_endpoints.md). # 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 | | **Navigation 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](#feature-endpoints). ### 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: ```json { "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 > navigation > 3D nav; only `map_name` is guaranteed | | `robot_type` | `str` | e.g. `"go2"`, `"g1"`, `"tron"`, `"m20"` | | `use_sim` | `bool` | Whether the robot is running in simulation — affects what's supported (e.g. 3D SLAM on Go2) | | `slam_3d_supported` | `bool` | Whether this robot has a 3D SLAM (geometry) stack — use this to decide whether to offer 3D SLAM | | `slam_3d_color_supported` | `bool` | Whether this robot has the 3D color stack (`3d_color` / `3d_full`) | | `patrol_mode`, `patrol_phase` | `str` | Patrol supervisor mode (`manual`/`continuous`/`scheduled`) and phase | | `patrol_next_map_name`, `patrol_next_route_name`, `patrol_next_run_at` | `str` \| `null` | The next scheduled patrol and when it's due | See [Robot & Simulation Support](/full-autonomy-guidelines/features/robot-support.md) for how `robot_type`, `use_sim`, and the `*_supported` flags combine. ### 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. ```bash curl -X POST http://:5000/start/base_control -H 'Content-Type: application/json' -d '{}' curl -X POST http://: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 navigation is already running. ### Live monitoring (Navigation API, `:5001`) Read-only endpoints for dashboards and health checks. (Sending navigation goals lives with [Navigation](/full-autonomy-guidelines/features/navigation.md).) | Endpoint | Returns | | ------------------------ | ------------------------------------------------------------------------------------------------------------------------------------ | | `GET /api/status` | API health — `{ "status": "OK", "message": "..." }` | | `GET /api/pose` | Current pose in the map frame with a 36-element `covariance` array | | `GET /api/amcl_variance` | Localization uncertainty — `x_uncertainty`, `y_uncertainty` (m), `yaw_uncertainty` (deg) | | `GET /api/map` | The occupancy grid — `map_metadata` (resolution, width, height, origin) plus a `data` array (`-1` unknown, `0` free, `100` occupied) | ### Feature endpoints Every feature-specific endpoint is documented — with how, when, and why to use it — in that feature's guide: | Feature | Endpoints | Guide | | ------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------- | | Mapping & SLAM | `/start/slam/2d`, `/start/slam/3d`, `/start/slam/3d_color`, `/start/slam/3d_full`, `/stop/slam`, `/maps/save` | [Mapping & SLAM](/full-autonomy-guidelines/features/mapping-slam.md) | | 2D Navigation | `/start/nav2`, `/stop/nav2`, `/api/move_to_pose`, `/api/nav2_status` | [2D Navigation](/full-autonomy-guidelines/features/navigation.md) | | 3D Navigation | `/start/nav3d`, `/stop/nav3d` | [3D Navigation](/full-autonomy-guidelines/features/3d-map-navigation.md) | | Relocalization | `/localization/status`, `/localization/reseed` | [Relocalization](/full-autonomy-guidelines/features/relocalization.md) | | Frontier Exploration | `/explore/stop`, `/explore/resume`, `/explore/status` | [Frontier Exploration](/full-autonomy-guidelines/features/frontier-exploration.md) | | Patrol | `/start/patrol`, `/stop/patrol`, `/pause/patrol`, `/resume/patrol`, `/patrol/mode`, `/patrol/schedules*`, `/deploy`, `/deploy/status`, `/deploy/cancel` | [Patrol](/full-autonomy-guidelines/features/patrol.md) | | Auto Charging | `/charging/dock`, `/charging/stop`, `/charging/status`, `/charging/auto`, `/charging/undock`, `/charging/location`, `/charging/location/save` | [Auto Charging](/full-autonomy-guidelines/features/auto-charging.md) | | Maps, Routes & Locations | `/maps/list`, `/maps/delete`, `/maps/route/save`, `/maps/locations/*`, `/maps//pcd/raw`, `/maps//pcd/info` | [Maps, Routes & Locations](/full-autonomy-guidelines/features/maps-routes-locations.md) | | Keep-out Zones | `/maps/keepout/save`, `/maps/keepout/list`, `/maps/keepout/get`, `/maps/keepout/delete` | [Keep-out Zones](/full-autonomy-guidelines/features/keepout-zones.md) | --- # Agent Instructions This documentation is published with GitBook. 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