Carti

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

CreateMission¶

Use the shared CreateMission / AppendMission endpoints to send missions for Carti robots. Carti-specific missions are sent using the carti_mission payload below.

Note

When sending a Carti mission, carti.Feedback and CartiType are returned in the SubscribeMissionStatus response.

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`	`TraversePatrolParams` `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`

Carti workflow payloads (CreateMissionWorkflow)¶

CreateMissionWorkflow

When using CreateMissionWorkflow, set one of the following under cartiWorkflow. Each type carries only goals with no params.

Field (oneof)	Message Type	Description
`traverse`	repeated `Goal` `required`	a list of `Goal`
`traverse_patrol`	repeated `Goal` `required`	a list of `Goal`

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¶

(No fields defined)

JSON Request Example¶

JSON

{}

Response¶

indexes `repeated int32`¶

List of available conveyor indexes for this robot.

JSON Response Example¶

JSON

  {
    "indexes": [1, 2]
  }

Errors¶

ErrorCode	Description
`INVALID_ARGUMENT`	This command is being sent to a non-Carti family robot.
`INTERNAL`	Internal server error occurred while processing the request.

SubscribeConveyorStatus¶

Streaming mode: event

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¶

(No fields defined)

JSON Request Example¶

JSON

{}

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	The current state of the conveyor motor.
`payload_state`	`PayloadState` enum	The current state of the payload on the conveyor.
`health_state`	`HealthState` enum	The 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
`INVALID_ARGUMENT`	This command is being sent to a non-Carti family robot.
`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¶

commands `repeated 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

  {
    "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.
`FAILED_PRECONDITION`	The robot is in an error state that prevents conveyor control.
`INTERNAL`	Internal server error occurred while processing the request.

Carti

CreateMission¶

carti_mission carti.Mission¶

TraverseMission¶

TraversePatrolMission¶

NavigateMission¶

NavigateAutoMission¶

Carti workflow payloads (CreateMissionWorkflow)¶

GetConveyorIndex¶

Request¶

JSON Request Example¶

Response¶

indexes repeated int32¶

JSON Response Example¶

Errors¶

SubscribeConveyorStatus¶

Request¶

JSON Request Example¶

Response¶

states repeated ConveyorState¶

ConveyorState¶

OperationState enum¶

PayloadState enum¶

HealthState enum¶

InstallationState enum¶

JSON Response Example¶

Errors¶

ControlConveyor¶

Request¶

commands repeated ConveyorMotorCommand required¶

ConveyorMotorCommand¶

CommandConveyorMotor enum¶

JSON Request Example¶

Response¶

JSON Response Example¶

Errors¶

carti_mission `carti.Mission`¶

indexes `repeated int32`¶

states `repeated ConveyorState`¶

OperationState `enum`¶

PayloadState `enum`¶

HealthState `enum`¶

InstallationState `enum`¶

commands `repeated ConveyorMotorCommand` `required`¶

CommandConveyorMotor `enum`¶