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dfd1123 wants to merge 5 commits into from
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schema: update from schema/from-dlalstn0079 #88

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477901d
WIP: local schemas changes before sync
minsuLee-kr Feb 22, 2026
10e4df3
Merge message-schema/main into schemas
minsuLee-kr Feb 22, 2026
acb7475
fix : zenoh map flatbuffer 수정
minsuLee-kr Feb 22, 2026
9a1aac9
fix zenoh map schemas
minsuLee-kr Feb 23, 2026
b863d85
Update schemas from main @ bd6f1f4d
minsuLee-kr Feb 23, 2026
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2 changes: 1 addition & 1 deletion amr/v1/slamnav_localization.fbs
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Original file line number Diff line number Diff line change
Expand Up @@ -104,7 +104,7 @@ table ResponseLocalizationSemiAutoInit {

/*
category : RPC
response : Callback
response : One-shot
topic : {robotType}/localization/start
usage : 위치 추정 시작
field
Expand Down
84 changes: 35 additions & 49 deletions amr/v1/slamnav_map.fbs
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Expand Up @@ -120,20 +120,6 @@ table Node {
type: string;
}

/*
category : Data Structure
usage : 포인트 클라우드 데이터
field
- x, y, z : 3D 좌표
- intensity : 강도
*/
table CloudData {
x: float;
y: float;
z: float;
intensity: float;
}


// -------------------------------------------------
// ----------- --------
Expand Down Expand Up @@ -183,7 +169,7 @@ table ResponseTopoLoad {

/*
category : RPC
response : ???
response : One-shot
topic : {robotType}/map/list
usage : 맵 목록 조회
field
Expand All @@ -202,7 +188,7 @@ table ResponseMapList {

/*
category : RPC
response : ???
response : One-shot
topic : {robotType}/map/delete
usage : 맵 삭제
field
Expand All @@ -221,7 +207,7 @@ table ResponseMapDelete {

/*
category : RPC
response : ???
response : One-shot
topic : {robotType}/map/current
usage : 현재 맵 조회
field
Expand All @@ -239,19 +225,19 @@ table ResponseMapCurrent {

/*
category : RPC
response : ???
response : Delayed One-shot
topic : {robotType}/map/getCloud
usage : 맵 클라우드 조회
field
- map_name : 맵 이름
- file_name : 파일 이름
- size : cloud 데이터 크기 ???
- data : 클라우드 데이터
- data : 클라우드 벡터 데이터
- column_count : data column ( "3" / "4" )
- row_count : data row ( cloud size )
*/
table RequestGetMapCloud {
id: string;
map_name: string;
file_name: string;
}
table ResponseGetMapCloud {
id: string;
Expand All @@ -267,14 +253,15 @@ table ResponseGetMapCloud {

/*
category : RPC
response : ???
response : Delayed One-shot
topic : {robotType}/map/setCloud
usage : 맵 클라우드 설정
field
- map_name : 맵 이름
- file_name : 파일 이름
- size : cloud 데이터 크기 ???
- data : 클라우드 데이터
- data : 클라우드 벡터 데이터
- column_count : data column ( "3" / "4" )
- row_count : data row ( cloud size )
*/
table RequestSetMapCloud {
id: string;
Expand All @@ -295,31 +282,7 @@ table ResponseSetMapCloud {

/*
category : RPC
response : ???
topic : {robotType}/map/setTopology
usage : 토폴로지 맵 설정
field
- map_name : 맵 이름
- data : 노드 데이터
*/
table RequestSetMapTopology {
id: string;
map_name: string;
file_name: string;
data: [Node];
}
table ResponseSetMapTopology {
id: string;
map_name: string;
file_name: string;
result: string;
message: string;
}


/*
category : RPC
response : ???
response : Delayed One-shot
topic : {robotType}/map/getTopology
usage : 토폴로지 맵 조회
field
Expand Down Expand Up @@ -362,6 +325,29 @@ table ResponseGetMapTopology {
}


/*
category : RPC
response : Delayed One-shot
topic : {robotType}/map/setTopology
usage : 토폴로지 맵 설정
field
- map_name : 맵 이름
- data : 노드 데이터
*/
table RequestSetMapTopology {
id: string;
map_name: string;
file_name: string;
data: [Node];
}
table ResponseSetMapTopology {
id: string;
map_name: string;
file_name: string;
result: string;
message: string;
}

/*
category : RPC
response : One-shot
Expand Down
17 changes: 15 additions & 2 deletions amr/v1/slamnav_status.fbs
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Expand Up @@ -162,6 +162,19 @@ table StatusMap {
}


/*
category : Data Structure
usage : 도킹 상태
field
- dock_id : dock 명령의 id ( 최근에 accept 된 명령 반환 )
- dock_result : move_result 상태 ( "move" / "success" / "cancel" / "fail" )
- dock_move : 도킹 이동 상태 ( "stop" )
*/
table StatusDock {
dock_id: string;
dock_result: string;
dock_move: string;
}

// -------------------------------------------------
// ----------- --------
Expand All @@ -182,6 +195,7 @@ table StatusMap {
- robot_safety_io_state : Safety IO 상태
- setting : 설정 정보
- map : 맵 상태
- dock : 도킹 상태
*/
table Status {
condition: StatusCondition;
Expand All @@ -192,6 +206,7 @@ table Status {
robot_safety_io_state: StatusRobotSafetyIoState;
setting: StatusSetting;
map: StatusMap;
dock: StatusDock;
}


Expand All @@ -213,7 +228,6 @@ table Status {
- move_id : move 명령의 id ( 최근에 accept 된 명령 반환 )
- move_result : move_result 상태 ( "move" / "success" / "cancel" / "fail" )
- auto_move : 자동 이동 상태 ( "stop" / "move" / "pause" / "error" / "not ready" / "vir" )
- dock_move : 도킹 이동 상태 ( "stop" )
- jog_move : 조그 이동 상태 ( "none" )
- obs : 장애물 상태 ( "none" / "near" / "far" / "vir" )
- path_state : 경로 상태 ( "none" / "req_path" / "recv_path" )
Expand All @@ -225,7 +239,6 @@ table StatusMoveState {
move_id: string;
move_result: string;
auto_move: string;
dock_move: string;
jog_move: string;
obs: string;
path_state: string;
Expand Down