Graph Data

The MQTT topic graph/data provides structured data about the stations in the current layout. Below is the detailed structure of the message:

MQTT Topic: graph/data

uint32 number_of_vertices
graph_msgs/Vertex[] vertices
  uint8 NORMAL=0
  uint8 PARK=1
  uint8 CHARGE=2
  uint8 CONTROL=3
  uint8 REPORT=4
  uint32 id
  string name
  string alias
  uint8 type
geometry_msgs/Pose pose
  geometry_msgs/Point position
  float64 x
  float64 y
  float64 z
  geometry_msgs/Quaternion orientation
  float64 x
  float64 y
  float64 z
  float64 w

Station Information

The topic provides the vertices IDs of stations that can be used as nodeId while calling APIs (e.g., transport_orders/create/request). If the graph changes the id for the vertex might change for the same physical location. The nodeId in the transport order should be updated accordingly.

Station Information​

Station Information