Summary: This document outlines the ROS2 interfaces, message definitions, topics/services and any information required to communicate with the Polymath Autonomy Software System to request robot navigation, management of maps/zones/routes, localization, etc.
Index
Document Version: 0.3
polymath_msgs Version: v0.3.0
Published: June 4, 2025
Changelog:
When providing names for maps, zones, zone_groups, route_nodes, route_graphs, etc, use only
The names will not be case-sensitive, Map_1 and map_1 are treated the same. Do not use any other special characters.
The names can not start with an underscore ‘_’
Polymath offers the ability to take teleoperation commands as input for the vehicle command mux (which is also tied to the safety system). To publish teleoperation commands, use the following topics for joystick teleoperation and for application/autonomy commands respectively:
Note: It is important to make sure the joystick messages are published to the right topic since it will be given a higher priority than application/autonomy commands.
/app/joystick/cmd_vel
geometry_msgs/msg/TwistStamped https://docs.ros2.org/foxy/api/geometry_msgs/msg/TwistStamped.html/app/autonomy/cmd_vel
geometry_msgs/msg/TwistStamped https://docs.ros2.org/foxy/api/geometry_msgs/msg/TwistStamped.html