Mapping Commands¶

Commands for building, editing, and managing mower maps.

Map Building¶

start_scan_map¶

Start manual boundary scanning. User walks the mower around the perimeter.

ROS service: /robot_decision/start_mapping

Command

{
  "start_scan_map": {}
}

Response

{
  "type": "start_scan_map_respond",
  "message": { "result": 0, "value": null }
}

stop_scan_map¶

Stop boundary scanning.

ROS service: /robot_decision/map_stop_record

Command

{
  "stop_scan_map": {}
}

add_scan_map¶

Add a scan data point during mapping.

Command

{
  "add_scan_map": {}
}

start_assistant_build_map¶

Start automatic map building. The mower autonomously maps the area.

ROS service: /robot_decision/start_assistant_mapping

Command

{
  "start_assistant_build_map": {}
}

quit_mapping_mode¶

Exit mapping mode entirely.

ROS service: /robot_decision/quit_mapping_mode

Command

{
  "quit_mapping_mode": {}
}

Response

{
  "type": "quit_mapping_mode_respond",
  "message": { "result": 0, "value": null }
}

Response confirmed

Firmware analysis confirms quit_mapping_mode_respond exists in the mower's mqtt_node.

get_mapping_path2d¶

Get the 2D mapping path during an active mapping session.

New — discovered in mower firmware

Useful for visualizing the boundary being recorded in real-time.

Command

{
  "get_mapping_path2d": {}
}

Response

{
  "type": "get_mapping_path2d_respond",
  "message": { "result": 0, "value": null }
}

Map Erasure¶

start_erase_map¶

Start erasing part of a map area.

ROS service: /robot_decision/start_erase

Command

{
  "start_erase_map": {}
}

stop_erase_map¶

Stop map erasing.

Command

{
  "stop_erase_map": {}
}

Map Storage¶

save_map¶

Finalize and save the currently built map.

Does NOT accept coordinates

save_map only finalizes the mower's internal mapping session. It does NOT accept external coordinate data. The mower generates CSV files from its own recorded path.

ROS service: /robot_decision/save_map → SaveMap.srv

Command

{
  "save_map": {
    "mapName": "home"
  }
}

Response

{
  "type": "save_map_respond",
  "message": { "result": 0, "value": null }
}

SaveMap.srv definition:

string mapname       # Map name
float32 resolution   # Grid resolution (meters, typically 0.02-0.05)
int64 type           # Map type: 0=work, 1=obstacle, 2=unicom
---
string data
uint8 result
uint8 error_code     # 1=OVERLAPING_OTHER_MAP
                     # 2=OVERLAPING_OTHER_UNICOM
                     # 3=CROSS_MULTI_MAPS

delete_map¶

Delete a map.

ROS service: /robot_decision/delete_map → DeleteMap.srv

Command

{
  "delete_map": {
    "map_name": "map0",
    "map_type": 0
  }
}

map_type	Description
0	Work area
1	Obstacle area
2	Unicom (channel)

reset_map¶

Reset the current mapping session.

ROS service: /robot_decision/reset_mapping

Command

{
  "reset_map": {}
}

rename_map¶

Rename an existing map.

New — discovered in mower firmware

Command

{
  "rename_map": {
    "map_name": "map0",
    "new_name": "front_lawn"
  }
}

Response

{
  "type": "rename_map_respond",
  "message": { "result": 0, "value": null }
}

Map Queries¶

get_map_info¶

Get detailed information about a specific map.

Command

{
  "get_map_info": {
    "map_id": 0
  }
}

Response

{
  "type": "get_map_info_respond",
  "message": { "result": 0, "value": null }
}

get_map_list¶

Get a list of all maps on the mower.

Command

{
  "get_map_list": {}
}

Response

{
  "type": "get_map_list_respond",
  "message": {
    "result": 0,
    "value": {
      "map_ids": [0, 1],
      "map_names": ["map0_work", "map1_work"]
    }
  }
}

get_map_outline¶

Request map boundary coordinates. Response comes as a status report.

Command

{
  "get_map_outline": {
    "map_id": 0
  }
}

The mower responds with report_state_map_outline containing GPS polygon coordinates.

get_map_plan_path¶

Get the planned mowing path for a map.

Command

{
  "get_map_plan_path": {
    "map_id": 0
  }
}

get_preview_cover_path / generate_preview_cover_path¶

Get or generate a coverage path preview.

ROS service: /robot_decision/generate_preview_cover_path → GenerateCoveragePath.srv

Command

{
  "generate_preview_cover_path": {
    "map_ids": 0,
    "cov_direction": 90
  }
}

# GenerateCoveragePath.srv
uint32 map_ids
bool specify_direction
uint8 cov_direction     # 0-180°
---
bool result

request_map_ids¶

Request available map IDs from the mower.

Command

{
  "request_map_ids": {}
}

Area Definition¶

area_set¶

Define a working area via GPS bounding box. This sends GPS coordinates to the mower.

Command

{
  "area_set": {
    "latitude1": 52.1409,
    "longitude1": 6.2310,
    "latitude2": 52.1412,
    "longitude2": 6.2315,
    "map_name": "map0"
  }
}

ROS service: /robot_decision/add_area

update_virtual_wall¶

Update obstacle barriers for a map.

Command

{
  "update_virtual_wall": {
    "virtual_wall": [],
    "map_name": "map0"
  }
}

Map Building Flow¶

sequenceDiagram
    participant App
    participant Mower
    participant Server

    Note over App,Mower: Manual Mapping
    App->>Mower: MQTT: start_scan_map
    Mower->>Mower: ROS: start_mapping

    loop User walks boundary
        Mower->>App: report_state_map_outline (partial)
        Note over Mower: /novabot_mapping/if_closed_cycle<br/>detects polygon closure
    end

    App->>Mower: MQTT: stop_scan_map
    App->>Mower: MQTT: save_map {mapName: "home"}
    Mower->>Mower: Write CSV files to<br/>/userdata/lfi/maps/home0/csv_file/
    Mower->>Mower: Validate: no overlap

    alt Overlap detected
        Mower-->>App: save_map_respond {error_code: 1}
    else Success
        Mower-->>App: save_map_respond {result: 0}
        Mower->>Mower: Detect unicom channels<br/>between work areas
        Mower->>Server: HTTP: uploadEquipmentMap (ZIP)
        Mower->>App: report_state_map_outline (final GPS polygon)
    end

Map File Format¶

Maps are stored on the mower at /userdata/lfi/maps/home0/csv_file/:

csv_file/
├── map_info.json              # Charging pose + area sizes
├── map0_work.csv              # Work area 0 (x,y meters)
├── map0_0_obstacle.csv        # Obstacle 0 in work area 0
├── map0tocharge_unicom.csv    # Channel from area 0 to charger
├── map1_work.csv              # Work area 1
└── map_0_unicom.csv           # Channel type 2

CSV format: comma-separated local x,y coordinates (meters, relative to charger):

-0.0306977,-0.918932
-0.0388416,-0.868202
-9.62,-8.29

See Architecture → Overview for coordinate system details.