smart_link_openapi.yaml

openapi: 3.0.1
info:
  title: Smart+ Link API
  description: Kabam Robot API provides uniform access to control and monitor Kabam
    robots. It enables 3rd party applications to interact with Kabam robots.
  contact:
    name: Jakub Tomasek
    email: jakub@kabam.ai
    url: kabam.ai
  version: 2.3.2
servers:
- url: https://kcrapi-rest-dev.kabam.ai/<device_id>
paths:
  /robot/status:
    get:
      tags:
      - Kabam
      summary: Current robot status
      description: Retrieves current robot status
      operationId: get_robot_status
      responses:
        "200":
          description: successful operation
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/RobotStatus'
        "400":
          description: Error retrieving status
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /robot/config:
    get:
      tags:
      - Kabam
      summary: Get robot configurations
      description: Get robot environment variables
      operationId: get_robot_config
      responses:
        "200":
          description: successful operation
          content: 
            application/json:
              schema:
                type: object
                example:
                  PUBLIC_ENV_VAR_1: "ABC"
                  PUBLIC_ENV_VAR_2: "XaB123"
                  PUBLIC_API_KEY: "xyz@123"
        "400":
          description: Error retrieving status
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /robot/mapinfo:
    get:
      tags:
      - Kabam
      summary: Get robot map metadata
      description: Get robot environment variables
      operationId: get_robot_mapinfo
      responses:
        "200":
          description: successful operation
          content: 
            application/json:
              schema:
                type: object
                example:
                  map_id: "48868f6d-45f0-4c89-b7cc-c0f84b17b128"
                  map_label: "kabam_office_partial"
                  map_filename: "null"
        "400":
          description: Error retrieving status
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /robot/trigger/{command}:
    post:
      tags:
      - Kabam
      summary: Trigger command on a robot subsystem
      description: "Submits a {command} to a robot, returns immediately. Process should\
        \ be monitored through status. Can be used for example to `toggle_wheel_brake`,\
        \ `release_bumper_lockout`, `reboot`, `stop` , `trigger_boom_up`, `trigger_boom_down`,\
        \ `localize_boom` , `trigger_dock` , `trigger_undock` , `blinker_on` or `blinker_off`."
      operationId: robot_cmd
      parameters:
      - name: command
        in: path
        required: true
        style: simple
        explode: false
        schema:
          type: string
          enum:
          - toggle_wheel_brake
          - release_bumper_lockout
          - reboot
          - trigger_dock
          - trigger_undock
          - blinker_on
          - blinker_off
          - stop
          - trigger_boom_up
          - trigger_boom_down
          - localize_boom
          - blinker_on
          - blinker_off
        example: toggle
      responses:
        "200":
          description: Command was accepted
        "400":
          description: Invalid command
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /email/send:
    post:
      tags:
      - Kabam
      summary: Send an email to someone via sendgrid
      description: Send an email to someone via sendgrid
      operationId: send_email
      requestBody:
        description: Email Parameters
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/email_send_body'
      responses:
        "200":
          description: Email sent successfully
          content: {}
        "400":
          description: Failed
          content: {}
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /mission/status:
    get:
      tags:
      - Kabam
      summary: Last mission status update
      description: Retrieves last mission status update with details
      operationId: get_mission_status
      responses:
        "200":
          description: successful operation
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/MissionStatus'
        "400":
          description: Error retrieving status
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /mission/list:
    get:
      tags:
      - Kabam
      summary: List missions
      description: Retrieves list of all available missions to run
      operationId: get_mission_list
      responses:
        "200":
          description: Successful operation
          content:
            application/json:
              schema:
                properties:
                  mission_list:
                    type: array
                    items:
                      type: object
                      properties:
                        mission_name:
                          type: string
                          example: "A17ST220224"
                        mission_id:
                          type: string
                          example: 40dd8fcd-5e6d-4890-b620-88882d9d3977                 
        "400":
          description: Error retrieving mission list
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /mission/start:
    post:
      tags:
      - Kabam
      summary: Starts mission
      description: Triggers mission start
      operationId: mission_start
      requestBody:
        description: Mission parameters
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/mission_start_body'
        required: true
      responses:
        "200":
          description: Command was accepted
        "400":
          description: Invalid command
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /mission/trigger/{command}:
    post:
      tags:
      - Kabam
      summary: "Triggers stop,resume and pause for mission"
      description: "Submits a {command} to a robot, returns immediately. Process should\
        \ be monitored through status. Can be used for example to `stop`,`pause` ,`concierge_pause`,\
        \ and `resume`"
      operationId: mission_cmd_trigger
      parameters:
      - name: command
        in: path
        required: true
        style: simple
        explode: false
        schema:
          type: string
          enum:
          - stop
          - pause
          - resume
          - concierge_pause
        example: pause
      responses:
        "200":
          description: Command was accepted
        "400":
          description: Invalid command
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /mission/schedule:
    get:
      tags:
      - Kabam
      summary: Retrieves next mission scheduled
      description: Retrieves next scheduled mission
      operationId: get_mission_schedule
      responses:
        "200":
          description: successful operation
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/KabamTaskSchedule'
        "400":
          description: Error retrieving status
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /mission/{mission_id}:
    get:
      tags:
      - Kabam
      summary: retrieves mission based on mission_id
      description: This endpoint is used to retrieve mission details based on the
        mission_id
      operationId: mission_mission_id_get
      parameters:
      - name: mission_id
        in: path
        required: true
        style: simple
        explode: false
        schema:
          type: string
        example: GoToDoor1
      responses:
        "200":
          description: successful operation
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/Mission'
        "400":
          description: Error retrieving status
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /tts/speak:
    post:
      tags:
      - Kabam
      summary: Makes the robot robot convert text to speech
      description: This endpoint is used to make the robot use its text to speech
        functionality
      operationId: tts_speak
      requestBody:
        description: Body for TTS speak parameters
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/tts_speak_body'
      responses:
        "200":
          description: Received command successfully
          content: {}
        "400":
          description: Failed
          content: {}
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /tts/file:
    post:
      tags:
      - Kabam
      summary: Makes the robot convert file to speech
      description: This endpoint is used to make the robot use its file to speech
        functionality
      operationId: tts_file
      requestBody:
        description: Body for TTS file paramters
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/tts_file_body'
      responses:
        "200":
          description: Received command successfully
          content: {}
        "400":
          description: Failed
          content: {}
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /robot/camera:
    get:
      tags:
      - Kabam
      summary: Get Image from a specific robot camera
      description: This endpoint gets an image from a specified robot camera in base64 format.
      operationId: get_camera
      parameters:
        - name: camera_topic
          in: query
          required: false
          description: The camera topic to be chosen for the robot
          schema:
            type: string
            example: /hik_camera_back/camera/image_raw
      responses:
        "200":
          description: Succesfully retrieved image
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/robot_camera_body'
        "400":
          description: Error
          content: {}
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /robot/pose:
    get:
      tags:
      - Kabam
      summary: Get robots current position in the map 
      description: This endpoint is used to get the current position of the robot
        relative to the fixed frame using tf2
      operationId: robot_pose_get
      responses:
        "200":
          description: Successfully received position
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/robot_pose_body'
        "400":
          description: Failed to retrieve position
          content: {}
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /robot/tf:
    get:
      tags:
      - Kabam
      summary: Get any TF needed from tf list given child frame and parent frame
      description: This endpoint is used to get the position of any sensor available through TF
      operationId: get_tf
      parameters:
        - name: child_frame
          in: query 
          required: true
          style: form
          explode: false
          schema:
            type: string
          example: odom
        - name: parent_frame
          in: query 
          required: false
          style: form
          explode: false
          schema:
            type: string
            default: "base_link"
        - name: output_format
          in: query 
          required: false
          style: form
          explode: false
          schema:
            type: string
            enum: 
            - 2D
            - 3DQUAT
            - 3DRPY
            default: 3DQUAT
      responses:
        "200":
          description: Successfully received position
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/robot_pose_body'
        "400":
          description: Failed to retrieve position
          content: {}
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /robot/command/go_to:
    post:
      tags:
      - Kabam
      summary: Sends a goal for the robot to navigate to
      description: "This endpoint sends a `/move_base_simple/goal` to the robot to move towards. \
        \ It also monitors the status of the goal and resends if the goal was dropped."
      operationId: post_navigation_goal
      requestBody:
        description: Goal coordinates
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/robot_pose_body'
      responses:
        "200":
          description: Successfully sent goal
          content: {}
        "400":
          description: Failed to send goal
          content: {}
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /robot/navigation_status:
    get:
      tags:
      - Kabam
      summary: Gets navigation goal completion status
      description: This endpoint inquires whether or not the robot has completed its recent navigation goal.
      operationId: get_navigation_completed
      responses:
        "200":
          description: Successfully received completion status
          content: 
            application/json:
              schema:
                $ref: '#/components/schemas/robot_navigation_completed_body'
        "400":
          description: Failed to inquire completion status
          content: {}
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /robot/command/switch_map:
    post:
      tags:
      - Kabam
      summary: Switches map of the Robot
      description: This endpoint triggers a switch map on the robots.
      operationId: switch_map
      requestBody:
        description: Map URL
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/map_body'
      responses:
        "200":
          description: Successfully switched map.
          content: {}
        "400":
          description: Failed to switch map.
          content: {}
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /robot/command/localize:
    post:
      tags:
      - Kabam
      summary: Localization of Robot
      description: This endpoint triggers init localization on the robots.
      operationId: robot_initialize
      requestBody:
        description: Initial Point
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/robot_pose_body'
      responses:
        "200":
          description: Successfully initialize robot
          content: {}
        "400":
          description: Failed to initialize robot.
          content: {}
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
  /robot/command/camera_capture:
    post:
      tags:
      - Kabam
      summary: Capturing image from Robot front camera
      description: This endpoint triggers camera capture on the robots.
      operationId: camera_capture
      requestBody:
        description: camera capture info
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/cam_capture_body'
      responses:
        "200":
          description: Successfully trigger camera capture
          content: {}
        "400":
          description: Failed to trigger camera capture.
          content: {}
      x-openapi-router-controller: swagger_server.controllers.kabam_controller
components:
  schemas:
    ErrorResponse:
      type: object
      properties:
        errorCode:
          type: string
          example: "404"
        msg:
          type: string
          example: Failed to ...
    Mission:
      type: object
      properties:
        mission_name:
          type: string
          description: Unique name of the mission
          example: A17ST220224
        task_list:
          type: array
          items:
            $ref: '#/components/schemas/Task'
    Task:
      type: object
      properties:
        name:
          type: string
          description: Name of the task
          example: Navigate to wp0 - generated_map
        type:
          type: string
          description: Type of the task
          example: MOV2POINT
        parameter:
          $ref: '#/components/schemas/TaskParameters'
    TaskParameters:
      type: object
      properties:
        waypoint:
          $ref: '#/components/schemas/Waypoint'
        delay_period:
          type: number
          description: Delay period before executing the task
          example: 0.0
        camera_topic:
          type: string
          description: Topic of the camera feed
          example: ''
        announce_string:
          type: string
          description: Announcement message to be broadcasted
          example: ''
        parameter_list:
          type: array
          description: Additional parameters for the task
          items:
            type: string
          example: 
            - /wifi_survey_mission
            - --command
            - start
    Waypoint:
      type: object
      properties:
        name:
          type: string
          description: Name of the waypoint
          example: wp0
        id:
          type: string
          description: Unique identifier for the waypoint
          example: 5c378cec-5531-41cf-87b5-9e4b2fb5bcbd
        frame_id:
          type: string
          description: Frame of reference for the waypoint
          example: /map
        pose:
          $ref: '#/components/schemas/Pose'
    Pose:
      type: object
      properties:
        position:
          $ref: '#/components/schemas/Position'
        orientation:
          $ref: '#/components/schemas/Orientation'
    Position:
      type: object
      properties:
        x:
          type: number
          description: X-coordinate
          example: 15.716401325503847
        y:
          type: number
          description: Y-coordinate
          example: 52.85281746691924
        z:
          type: number
          description: Z-coordinate
          example: 0.0
    Orientation:
      type: object
      properties:
        x:
          type: number
          description: X-component of the orientation quaternion
          example: 0.0
        y:
          type: number
          description: Y-component of the orientation quaternion
          example: 0.0
        z:
          type: number
          description: Z-component of the orientation quaternion
          example: -0.7770413872719396
        w:
          type: number
          description: W-component of the orientation quaternion
          example: 0.6294495074797497
    MissionStatus:
      type: object
      properties:
        status:
          type: string
          example: running
          enum:
          - idling
          - running
          - paused
          - completed
          - cancelled
          - error
        error:
          type: string
          example: ObstacleTooClose
          enum:
          - ""
          - ObstacleTooClose
          - EstopPressed
          - LocalizationLost
          - GoalNotSafe
          - Unreachable
        id:
          type: string
          example: InspectWarehouse
        name:
          type: string
          example: InspectWarehouse
        complete_pct:
          maximum: 100
          minimum: 0
          type: integer
          example: 20
        loop_count_req:
          type: integer
          example: 2
        loop_count_done:
          type: integer
          example: 1
      example:
        loop_count_done: 1
        id: InspectWarehouse
        name: InspectWarehouse
        error: ObstacleTooClose
        loop_count_req: 2
        status: running
        complete_pct: 20
    RobotStatus:
      type: object
      properties:
        system_health:
          type: string
          description: Overall robot system status
          enum:
          - ok
          - warn
          - error
          - intervention
          - unknown
        system_health_desc:
          type: string
          description: Human-readable detailed description of system status
          example: ""
        battery:
          $ref: '#/components/schemas/RobotStatus_battery'
        safety:
          $ref: '#/components/schemas/RobotStatus_safety'
        door_lock:
          type: object
          additionalProperties:
            type: boolean
          example:
            door1: true
            door2: false
            door3: true
        sensorHealth:
          $ref: '#/components/schemas/RobotStatus_sensors'
        navigation:
          $ref: '#/components/schemas/RobotStatus_navigation'
        mission:
          $ref: '#/components/schemas/MissionStatus'
        cleaning:
          $ref: '#/components/schemas/RobotStatus_cleaning'
        other:
          type: object
          properties:
            boom_status:
              type: string
              example: "STATIONARY_UP"
          example:
              boom_status: "STATIONARY_UP"
      example:
        cleaning:
          cleaning_on: true
          cleaning_mode: MutePushDust
          dustbag_level: true
          maintanance_msg: Dustbag is full
        navigation:
          localization: true
          map_name: plq
          autonomous: true
          speed: 0.5
          mileage: 100
          lift:
            lift_attendant_state: IDLE
            current_floor: L1
            lift_task_prog: 100
            lift_task_success: true
            lift_task_completed: false
        mission:
          loop_count_done: 1
          id: InspectWarehouse
          error: ObstacleTooClose
          loop_count_req: 2
          status: running
          complete_pct: 20
        sensors:
          cameras:
            overhang: ok
            rear: warn
            top: error
          odom:
            wheel: ok
            imu: ok
          lidars:
            top: ok
          ultrasonic:
            "0": ok
            "1": warn
            "2": error
            "3": ok
            "4": ok
        system_status: ok
        safety:
          estop: ok
          bumper_lockout: ok
        system_status_desc: ""
        door_lock:
          door1: true
          door2: false
          door3: true
        battery:
          current: 1.815
          level: 45
          charging: false
          temperature: 35.1
          health: ok
          voltage: 21.815   
        other:
          boom_status: "STATIONARY_UP"
    Schedule:
      type: object
      properties:
        mission_id:
          type: string
          example: GoToWarehouse
        timestamp:
          type: string
          format: date-time
    MapListResponse:
      type: object
      properties:
        data:
          type: array
          items:
            $ref: "#/components/schemas/MapListItem"
        errorCode:
          type: string
          example: ""
        msg:
          type: string
          example: Failed to poll Gaussian API.
        successed:
          type: boolean
    MapListItem:
      type: object
      properties:
        createdAt:
          type: string
          format: date-time
          example: "2016-08-11 04:13:38"
        dataFileName:
          type: string
          example: 40dd8fcd-5e6d-4890-b620-88882d9d3977.data
        id:
          type: integer
          example: 0
        mapInfo:
          $ref: "#/components/schemas/inline_response_200_3_mapInfo"
        name:
          type: string
          example: demo
        obstacleFileName:
          type: string
          example: ""
        pgmFileName:
          type: string
          example: 6a3e7cae-c4a8-4583-9a5d-08682344647a.pgm
        pngFileName:
          type: string
          example: 228b335f-8c1a-4f05-a292-160f942cbe00.png
        yamlFileName:
          type: string
          example: 4108be8c-4004-4ad6-a9c5-599b4a3d49df.yaml
    LaserPhitResponse:
      type: object
      properties:
        header:
          $ref: "#/components/schemas/inline_response_200_4_header"
        mapInfo:
          $ref: "#/components/schemas/inline_response_200_3_mapInfo"
        gridPhits:
          type: array
          items:
            type: object
            properties:
              x:
                type: number
                description: X-coordinate of the rasterized laser position
                example: 111
              y:
                type: number
                description: Y-coordinate of the rasterized laser position
                example: 111
        worldPhits:
          type: array
          items:
            type: object
            properties:
              x:
                type: number
                description: X-coordinate of the laser position in the world
                example: -0.00000000000180135178
              y:
                type: number
                description: Y-coordinate of the laser position in the world
                example: 0.00000002584042026
              z:
                type: number
                description: Z-coordinate of the laser position in the world
                example: 0
    inline_response_200_1:
      type: object
      properties:
        data:
          $ref: '#/components/schemas/inline_response_200_1_data'
        errorCode:
          type: string
          example: ""
        msg:
          type: string
          example: successed
        successed:
          type: boolean
      example:
        msg: successed
        data:
          emergencyStop: true
          charge: true
          chargerVoltage: 0.021
          batteryVoltage: 21.815
          chargerCurrent: 0.604688
          statusUpdatedAt: 1515896014
          indexUpdatedAt: 1515901694
          emergency: true
          battery: 45.435484
          totalMileage: 0
          speed: 0
          uptime: 5709
          charger: 0
          playPathSpeedLevel: 2
          chargerStatus: true
          navigationSpeedLevel: 1
          mileage: mileage
        successed: true
        errorCode: ""
    inline_response_200_4:
      type: object
      properties:
        header:
          $ref: '#/components/schemas/inline_response_200_4_header'
        angle_min:
          type: number
          example: -2.3
        angle_max:
          type: number
          example: 2.3
        angle_increment:
          type: number
          example: 0.005
        range_min:
          type: number
          example: 0.05
        range_max:
          type: number
          example: 10
        ranges:
          type: array
          items:
            type: number
            example: 4.94
        intensities:
          type: array
          items:
            type: number
            example: 0
      example:
        angle_max: 2.3
        ranges:
        - 4.94
        - 4.94
        angle_increment: 0.005
        range_min: 0.05
        header:
          stamp: 14321212
          frame_id: base_laser
        range_max: 10
        intensities:
        - 0
        - 0
        angle_min: -2.3
    inline_response_200_5:
      type: object
      properties:
        data:
          type: array
          items:
            $ref: '#/components/schemas/inline_response_200_5_data'
        errorCode:
          type: string
        msg:
          type: string
          example: successed
        successed:
          type: boolean
      example:
        msg: successed
        data:
        - createdAt: "{}"
          gridX: 458
          gridY: 238
          name: demo_position
          worldPose:
            orientation:
              w: 0.9991511204590953
              x: 0
              "y": 0
              z: -0.041195126961019124
            position:
              x: -1.873163616425341
              "y": -12.877138903739242
              z: 0
          angle: -4.7219500215147585
          mapId: 0
          id: 0
          mapName: demo
          type: 0
        - createdAt: "{}"
          gridX: 458
          gridY: 238
          name: demo_position
          worldPose:
            orientation:
              w: 0.9991511204590953
              x: 0
              "y": 0
              z: -0.041195126961019124
            position:
              x: -1.873163616425341
              "y": -12.877138903739242
              z: 0
          angle: -4.7219500215147585
          mapId: 0
          id: 0
          mapName: demo
          type: 0
        successed: true
        errorCode: errorCode
    RobotStatus_battery:
      type: object
      properties:
        health:
          type: string
          example: ok
          enum:
          - ok
          - warn
          - error
        charging:
          type: boolean
          example: false
        level:
          maximum: 100
          minimum: 0
          type: integer
          description: "[%]"
          example: 45
        voltage:
          minimum: 0
          type: number
          description: "[V]"
          example: 21.815
        current:
          type: number
          description: "[A]"
          example: 1.815
        temperature:
          type: number
          description: "[°C]"
          example: 35.1
      example:
        current: 1.815
        level: 45
        charging: false
        temperature: 35.1
        health: ok
        voltage: 21.815
    RobotStatus_safety:
      type: object
      properties:
        estop:
          type: string
          description: error  when emergency stop is engaged
          example: error
        bumper_lockout:
          type: string
          description: error when active
          example: error
      example:
        estop: error
        bumper_lockout: error
    RobotStatus_sensors:
      type: object
      properties:
        odometry:
          type: string
        imu:
          type: string
        rsLidar:
          type: string
        bottomLidar:
          type: string
        lidarFrontLeftNegObs:
          type: string
        lidarRearLeftNegObs:
          type: string
        lidarFrontRightNegObs:
          type: string
        lidarRearRightNegObs:
          type: string
        ultrasonic0:
          type: string
        ultrasonic1:
          type: string
        ultrasonic2:
          type: string
        ultrasonic3:
          type: string
        ultrasonic4:
          type: string
        ultrasonic5:
          type: string
        ultrasonic6:
          type: string
        ultrasonic7:
          type: string
        ultrasonic8:
          type: string
        ultrasonic9:
          type: string
        ultrasonic10:
          type: string
        ultrasonic11:
          type: string
    RobotStatus_navigation:
      type: object
      properties:
        moving_status:
          type: string
          description: Moving status of the robot
          example: Idle
        mileage:
          type: number
          description: Distance traveled in meters
          example: 100
        map_name:
          type: string
          example: plq
        map_id:
          type: string
          example: plq
        map_hash:
          type: string
          example: fB5D4QfH9x0Z9Lf36jvN2g7aAdEr9PTsZV4lwEOUoHM=
        odom_vel_x:
          type: number
          description: "Current linear speed in [m/s]"
          example: 0.5
        odom_vel_yaw:
          type: number
          description: "Current angular velocity in [rad/s]"
          example: 0.132
        localization:
          type: boolean
          description: True when localized
          example: true
        localization_quality:
          type: number
          description: quality in percent [0, 100], higher the better
          example: true
        autonomous:
          type: boolean
          description: Is robot in autonomous(true) or manual(false) mode
          example: true
        lift:
          $ref: '#/components/schemas/RobotStatus_lift'
      example:
        localization: true
        localization_quality: 85
        map_name: plq
        map_id: 45df454f-df65fd-fdfd54f-fdfdf
        map_hash: fB5D4QfH9x0Z9Lf36jvN2g7aAdEr9PTsZV4lwEOUoHM=
        autonomous: true
        odom_vel_x: 0.5
        odom_vel_yaw: 0.132
        mileage: 100
    RobotStatus_cleaning:
      type: object
      properties:
        cleaning_on:
          type: boolean
          description: True when cleaning function is on
          example: true
        cleaning_mode:
          type: string
          example: CarpetCleaning
        dustbag_full:
          type: boolean
          description: True when dustbag is full
          example: false
        maintanance_msg:
          type: string
          example: Dustbag is full
      example:
        cleaning_on: true
        cleaning_mode: MutePushDust
        dustbag_level: true
        maintanance_msg: Dustbag is full
    RobotStatus_lift:
      type: object
      properties:
        lift_attendant_state:
          type: string
          description: State of lift attendant
          example: IDLE
        current_floor:
          type: string
          description: Current floor the robot is at
          example: L1
        lift_task_prog:
          type: number
          description: Progress of the lift request in percentage
          example: 100
        lift_task_success: 
          type: boolean
          description: If the task has succeeded or not
          example: false
        lift_task_completed:
          type: boolean
          description: If the task has completed or not (Failed task are still marked as completed)
          example: true
      example:
        lift_attendant_state: IDLE
        current_floor: L1
        lift_task_prog: 100
        lift_task_success: false
        lift_task_completed: true
    inline_response_200_1_data:
      type: object
      properties:
        battery:
          type: number
          example: 45.435484
        batteryVoltage:
          type: number
          example: 21.815
        charge:
          type: boolean
        charger:
          type: integer
          format: int32
          example: 0
        chargerCurrent:
          type: number
          example: 0.604688
        chargerStatus:
          type: boolean
        chargerVoltage:
          type: number
          example: 0.021
        emergency:
          type: boolean
        emergencyStop:
          type: boolean
        indexUpdatedAt:
          type: integer
          format: int32
          example: 1515901694
        mileage:
          type: string
          format: nullable
        navigationSpeedLevel:
          type: integer
          format: int32
          example: 1
        playPathSpeedLevel:
          type: integer
          format: int32
          example: 2
        speed:
          type: integer
          format: int32
          example: 0
        statusUpdatedAt:
          type: integer
          format: int32
          example: 1515896014
        totalMileage:
          type: integer
          format: int32
          example: 0
        uptime:
          type: integer
          format: int32
          example: 5709
      example:
        emergencyStop: true
        charge: true
        chargerVoltage: 0.021
        batteryVoltage: 21.815
        chargerCurrent: 0.604688
        statusUpdatedAt: 1515896014
        indexUpdatedAt: 1515901694
        emergency: true
        battery: 45.435484
        totalMileage: 0
        speed: 0
        uptime: 5709
        charger: 0
        playPathSpeedLevel: 2
        chargerStatus: true
        navigationSpeedLevel: 1
        mileage: mileage
    inline_response_200_2_data_task_status_map_mapInfo:
      type: object
      properties:
        gridHeight:
          type: integer
          format: int32
          example: 608
        gridWidth:
          type: integer
          format: int32
          example: 736
        originX:
          type: number
          example: -11.200000000000001
        originY:
          type: number
          example: -17.6
        resolution:
          type: number
          example: 0.05000000074505806
      example:
        gridHeight: 608
        originX: -11.200000000000001
        originY: -17.6
        gridWidth: 736
        resolution: 0.05000000074505806
    inline_response_200_2_data_task_status_map:
      type: object
      properties:
        createdAt:
          type: string
          example: "{}"
        dataFileName:
          type: string
          example: 8756bd69-11ce-4ce3-afe5-6707676ea5f6.data
        id:
          type: string
          example: 2af2b255-c9f7-4994-a00d-1428c40836af
        mapInfo:
          $ref: '#/components/schemas/inline_response_200_2_data_task_status_map_mapInfo'
        name:
          type: string
          example: demo2
        obstacleFileName:
          type: string
          example: 6e501b2f-c763-49dd-8048-c333cd712b94.json
        pgmFileName:
          type: string
          example: 3282957a-eb3b-4496-a846-5103fbc6fa05.pgm
        pngFileName:
          type: string
          example: b5433412-dce2-4e97-8c4d-a02aabc341ad.png
        yamlFileName:
          type: string
          example: f76229de-9944-46be-a37c-f6cadd6ff34d.yaml
      example:
        dataFileName: 8756bd69-11ce-4ce3-afe5-6707676ea5f6.data
        mapInfo:
          gridHeight: 608
          originX: -11.200000000000001
          originY: -17.6
          gridWidth: 736
          resolution: 0.05000000074505806
        createdAt: "{}"
        pgmFileName: 3282957a-eb3b-4496-a846-5103fbc6fa05.pgm
        pngFileName: b5433412-dce2-4e97-8c4d-a02aabc341ad.png
        name: demo2
        id: 2af2b255-c9f7-4994-a00d-1428c40836af
        obstacleFileName: 6e501b2f-c763-49dd-8048-c333cd712b94.json
        yamlFileName: f76229de-9944-46be-a37c-f6cadd6ff34d.yaml
    inline_response_200_2_data_task_status_task_queue_start_param:
      type: object
      properties:
        graph_name:
          type: string
          example: grap
        graph_path_name:
          type: string
          example: path
        map_name:
          type: string
          example: demo2
      example:
        graph_name: grap
        map_name: demo2
        graph_path_name: path
    inline_response_200_2_data_task_status_task_queue_tasks:
      type: object
      properties:
        id:
          type: string
          example: 66bddeb3-5697-4e1e-9566-4a92677b4425
        name:
          type: string
          example: PlayGraphPathTask
        start_param:
          $ref: '#/components/schemas/inline_response_200_2_data_task_status_task_queue_start_param'
      example:
        name: PlayGraphPathTask
        id: 66bddeb3-5697-4e1e-9566-4a92677b4425
        start_param:
          graph_name: grap
          map_name: demo2
          graph_path_name: path
    inline_response_200_2_data_task_status_task_queue:
      type: object
      properties:
        loop:
          type: boolean
        map_id:
          type: string
        map_name:
          type: string
          example: demo2
        name:
          type: string
        tasks:
          type: array
          items:
            $ref: '#/components/schemas/inline_response_200_2_data_task_status_task_queue_tasks'
      example:
        map_id: map_id
        loop: true
        map_name: demo2
        name: name
        tasks:
        - name: PlayGraphPathTask
          id: 66bddeb3-5697-4e1e-9566-4a92677b4425
          start_param:
            graph_name: grap
            map_name: demo2
            graph_path_name: path
        - name: PlayGraphPathTask
          id: 66bddeb3-5697-4e1e-9566-4a92677b4425
          start_param:
            graph_name: grap
            map_name: demo2
            graph_path_name: path
    inline_response_200_3_mapInfo:
      type: object
      properties:
        gridHeight:
          type: number
          example: 992
        gridWidth:
          type: number
          example: 992
        originX:
          type: number
          example: -24.8
        originY:
          type: number
          example: -24.8
        resolution:
          type: number
          example: 0.05000000074505806
      example:
        gridHeight: 992
        originX: -24.8
        originY: -24.8
        gridWidth: 992
        resolution: 0.05000000074505806
    inline_response_200_3_worldPosition_orientation:
      type: object
      properties:
        w:
          type: number
          example: -0.05743089347363588
        x:
          type: number
          example: 0
        "y":
          type: number
          example: 0
        z:
          type: number
          example: 0.9983494841361015
      example:
        w: -0.05743089347363588
        x: 0
        "y": 0
        z: 0.9983494841361015
    inline_response_200_3_worldPosition_position:
      type: object
      properties:
        x:
          type: number
          example: -6.189813393986145
        "y":
          type: number
          example: 0.3017086724551712
        z:
          type: number
          example: 0
      example:
        x: -6.189813393986145
        "y": 0.3017086724551712
        z: 0
    inline_response_200_3_worldPosition:
      type: object
      properties:
        orientation:
          $ref: '#/components/schemas/inline_response_200_3_worldPosition_orientation'
        position:
          $ref: '#/components/schemas/inline_response_200_3_worldPosition_position'
      example:
        orientation:
          w: -0.05743089347363588
          x: 0
          "y": 0
          z: 0.9983494841361015
        position:
          x: -6.189813393986145
          "y": 0.3017086724551712
          z: 0
    inline_response_200_4_header:
      type: object
      properties:
        stamp:
          type: number
          example: 14321212
        frame_id:
          type: string
          example: base_laser
      example:
        stamp: 14321212
        frame_id: base_laser
    inline_response_200_5_worldPose_orientation:
      type: object
      properties:
        w:
          type: number
          example: 0.9991511204590953
        x:
          type: integer
          format: int32
          example: 0
        "y":
          type: integer
          format: int32
          example: 0
        z:
          type: number
          example: -0.041195126961019124
      example:
        w: 0.9991511204590953
        x: 0
        "y": 0
        z: -0.041195126961019124
    inline_response_200_5_worldPose_position:
      type: object
      properties:
        x:
          type: number
          example: -1.873163616425341
        "y":
          type: number
          example: -12.877138903739242
        z:
          type: integer
          format: int32
          example: 0
      example:
        x: -1.873163616425341
        "y": -12.877138903739242
        z: 0
    inline_response_200_5_worldPose:
      type: object
      properties:
        orientation:
          $ref: '#/components/schemas/inline_response_200_5_worldPose_orientation'
        position:
          $ref: '#/components/schemas/inline_response_200_5_worldPose_position'
      example:
        orientation:
          w: 0.9991511204590953
          x: 0
          "y": 0
          z: -0.041195126961019124
        position:
          x: -1.873163616425341
          "y": -12.877138903739242
          z: 0
    inline_response_200_5_data:
      type: object
      properties:
        angle:
          type: number
          example: -4.7219500215147585
        createdAt:
          type: string
          example: "{}"
        gridX:
          type: integer
          format: int32
          example: 458
        gridY:
          type: integer
          format: int32
          example: 238
        id:
          type: integer
          format: int32
          example: 0
        mapId:
          type: integer
          format: int32
          example: 0
        mapName:
          type: string
          example: demo
        name:
          type: string
          example: demo_position
        type:
          type: integer
          format: int32
          example: 0
        worldPose:
          $ref: '#/components/schemas/inline_response_200_5_worldPose'
      example:
        createdAt: "{}"
        gridX: 458
        gridY: 238
        name: demo_position
        worldPose:
          orientation:
            w: 0.9991511204590953
            x: 0
            "y": 0
            z: -0.041195126961019124
          position:
            x: -1.873163616425341
            "y": -12.877138903739242
            z: 0
        angle: -4.7219500215147585
        mapId: 0
        id: 0
        mapName: demo
        type: 0
    cmd_rotate_body:
      type: object
      properties:
        rotateAngle:
          type: number
          description: "Angle in degrees in range (-360,360)"
          example: 100
        rotateSpeed:
          type: number
          description: "Speed in [rad/s] (0.1, 0.6) rad/s"
          example: 0.1
    cmd_initialize_custom:
      type: object
      properties:
        angle:
          type: number
          description: Angle of the position
          example: 100
        gridPosition:
          type: object
          properties:
            x:
              type: number
              description: X-coordinate in the grid
              example: 100
            y:
              type: number
              description: Y-coordinate in the grid
              example: 100
    cmd_navigate_body:
      type: object
      properties:
        destination:
          $ref: '#/components/schemas/cmd_initialize_custom'
    KabamTaskSchedule:
      type: object
      properties:
        success:
          type: boolean
          description: Indicates if the operation was successful
        message:
          type: string
          description: Provides details about the scheduled mission, including its ID and timestamp
    mission_start_body:
      type: object
      properties:
        mission_id:
          type: string
          example: aa898394-434hjk34-433kjdnf
        loop_count:
          type: integer
          example: 1
    tts_speak_body:
      type: object
      properties:
        text:
          type: string
          example: welcome to kabam
        text_type:
          type: string
          example: text
        voice_id:
          type: string
          example: Joanna
        volume:
          type: string
          example: '1.0'
        command:
          type: string
          example: '1'
        wait_time:
          type: string
          example: '0'
      required:
        - text
    tts_file_body:
      type: object
      properties:
        file:
          type: string
          example: inaudible.mp3
        wait_time:
          type: string
          example: '0'
        volume:
          type: string
          example: '0.3'
        command:
          type: string
          example: '1'
      required:
        - file
    email_send_body:
      type: object
      properties:
        to:
          type: string
          example: "example@google.com"
        subject:
          type: string
          example: "Test email"
        body:
          type: string
          example: "Greetings from Kabam Robotics"
        attach_camera_image:
          type: boolean
          example: true
        camera_topic:
          type: string
          example: "/hik_camera_front/camera/image_raw"
          description: Optional parameter to specify which camera topic to use. Defaults to the robot's default camera if not specified. The camera topic is expected to be of type sensor_msgs/Image or sensor_msgs/CompressedImage.
    robot_camera_body:
      type: object
      properties:
        image:
          type: string
          description: Base64 encoded image from the specified camera.
          example: "iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABHNCSVQICAgIfAhki..."
    map_body:
      type: object
      properties:
        map_name:
          type: string
          example: L2
    cam_capture_body:
      type: object
      properties:
        categories_list:
          type: string
          enum:
          - Image Capture
          - Faulty Bulb
          - Full Trashcan
          - Faulty Escalator
          - Illegal Parking 
          - People Smoking 
          - Fire
          - Loitering Person
          - Open Door
          - People
          - Blackout Detection
          - Unattended Object
          - Abandoned Luggage
          - Unauthorized Pallet
          - bulb_faulty
          - trashcan_full
          - escalator_not_working
          - faulty_escalator
          - illegal_parking
          - people_smoking
          - loitering_person,
          - abandoned_luggage
          - fire
          - open_door
          - close_door
          - people
          - blackout_detection
          - unattended_object
          - unauthorized_pallet
        capture_duration:
          type: integer
          description: capture duration in seconds
          example: 1
        interval:
          type: integer
          description: interval to capture image
          example: 1
    robot_pose_body:
      type: object
      properties:
        x:
          type: number
          description: "x coordinate in m"
          example: 1
        y:
          type: number
          description: "y coordinate in m"
          example: 1
        theta:
          type: number
          description: "yaw of robot in radians(rad)"
          example: 0.2
    robot_navigation_completed_body:
      type: object
      properties:
        completed:
          type: boolean
          description: "Goal completed or not"
    KabamTaskSchedule_inner:
      type: object
      properties:
        mission_id:
          type: string
          example: GoToWarehouse
        task_name:
          type: string
          example: Test1
        map_name:
          type: string
          example: Workshop
        timestamp:
          type: string
          format: date-time
      example:
        task_name: Test1
        map_name: Workshop
        mission_id: GoToWarehouse
        timestamp: 2000-01-23T04:56:07.000+00:00