VDA5050 Topics with Meili FMS #
The topics used in VDA5050 are defined by the VDA5050 standard and are as follows:
-
VEHICLE_STATE_TOPIC=meili/v2/{manufacturer}/{serial_number}/state(VDA5050 state message spec) -
MQTT_VEHICLE_ORDER_TOPIC=meili/v2/{manufacturer}/{serial_number}/orders(VDA5050 order message spec) -
MQTT_VEHICLE_ACTION_TOPIC=meili/v2/{manufacturer}/{serial_numer}/instantActions(VDA5050 instantActions message spec) -
MQTT_VEHICLE_FACTSHEET_TOPIC=meili/v2/{manufacturer}/{serial_numer}/factsheet(VDA5050 factsheet message spec) -
MQTT_VEHICLE_CONNECTION_TOPIC=meili/v2/{manufacturer}/{serial_numer}/connection(VDA5050 connection message spec)
Which manufacturer is picked for the Topic? #
Since we have 2 options to define manufacturer and its not required to define it, by default it will be “meili”. Then if the robot has a manufacturer tied to it that will be the manufacturer, or if the user defines a custom manufacturer per vehicle, this can also be used. The priority of the manufacturer picked to be used in the topic is the following, if one doesn’t exist it will use the next one etc.
- manufacturer
- custom_manufacturer
- “meili”
Topics used by Meili FMS #
We allow the clients to publish and subscribe to all the topics included by VDA5050 2.0.0, but we do not use all of them. Here is a table of the current topics supported and the purpose of them.
| Topic | Used by Meili | Purpose |
|---|---|---|
| order | YES | send order to the robot |
| state | YES | receive position, battery, order status, errors etc. from robot |
| instantActions | YES | send cancelOrder, startPause and stopPause to robot |
| factsheet | YES | send factsheet message from robot to FMS |
| connection | YES | notify and fail task in case of unexpected robot disconnection |
| visualization | NO |
Are you not seeing the robot in the UI? #
This could be caused by a problem in a few different areas:
-
if you can’t see the vehicle on the map, check on the vehicle page of the FMS to see the status of the robot, if it is green or yellow and you see the position it is connected. The vehicle is probably outside of the map or is not localizing properly, so check if the origin of the map is correct. If the status on the vehicle page is red follow the next steps.
-
Make sure you can connect to the broker and publish to the state topic, check the Connection - VDA5050 section for more details.
-
Make sure you are sending the “agvPosition” in the state message, with theta being in radians.
-
Make sure that you are not sending any wrong types of data in the JSON messages, follow VDA5050 2.0.0 for what types the fields should be included.