車上 Amoe8aOMS 是 VDA5050 v3.0 的車輛端；你的調度系統是 master。 本規格只收照著接就會動的 channel，欄位定義原樣取自 VDA5050 官方 JSON Schema。
車上內建 Mosquitto，或場域既有 broker（雙模）。正式部署為 mTLS。
位置、電量、driving、operatingMode、errors、safetyState、orderId 可用。
位置、電量、driving、operatingMode、errors、safetyState、orderId 可用。
Available only on servers:
介面名稱，本平台固定 vda5050。
協定 major 版本，本平台為 v3。
製造商識別，逐案設定。
車輛序號，逐車唯一。
Accepts the following message:
State of the mobile robot.
State of the mobile robot.
{
"headerId": 42,
"timestamp": "2026-01-01T09:30:00.000Z",
"version": "3.0.0",
"manufacturer": "rotasun",
"serialNumber": "amr-0000",
"orderId": "demo-001",
"orderUpdateId": 0,
"lastNodeId": "",
"lastNodeSequenceId": 0,
"nodeStates": [],
"edgeStates": [],
"actionStates": [],
"instantActionStates": [],
"driving": true,
"operatingMode": "AUTOMATIC",
"errors": [],
"safetyState": {
"activeEmergencyStop": "NONE",
"fieldViolation": false
},
"powerSupply": {
"stateOfCharge": 78.5,
"charging": false
},
"agvPosition": {
"x": 1,
"y": 2,
"theta": 0,
"mapId": "site-1",
"positionInitialized": true
}
}
retained，含 LWT 斷線遺囑。
retained，含 LWT 斷線遺囑。
Available only on servers:
介面名稱，本平台固定 vda5050。
協定 major 版本，本平台為 v3。
製造商識別，逐案設定。
車輛序號，逐車唯一。
Accepts the following message:
The last will message of the mobile robot. Has to be sent with retain flag. Once the mobile robot comes online, it has to send this message on its connect topic, with the connectionState enum set to "ONLINE". The last will message is to be configured with the connection state set to "CONNECTIONBROKEN". Thus, if the mobile robot disconnects from the broker, fleet control gets notified via the topic "connection". If the mobile robot is disconnecting in an orderly fashion (e.g. shutting down, sleeping), the mobile robot is to publish a message on this topic with the connectionState set to "DISCONNECTED".
The last will message of the mobile robot. Has to be sent with retain flag. Once the mobile robot comes online, it has to send this message on its connect topic, with the connectionState enum set to "ONLINE". The last will message is to be configured with the connection state set to "CONNECTIONBROKEN". Thus, if the mobile robot disconnects from the broker, fleet control gets notified via the topic "connection". If the mobile robot is disconnecting in an orderly fashion (e.g. shutting down, sleeping), the mobile robot is to publish a message on this topic with the connectionState set to "DISCONNECTED".
{
"headerId": 7,
"timestamp": "2026-01-01T09:29:58.000Z",
"version": "3.0.0",
"manufacturer": "rotasun",
"serialNumber": "amr-0000",
"connectionState": "ONLINE"
}
多節點翻譯進本車佇列；orderId 透明不重編，重複 orderId 冪等忽略。
多節點翻譯進本車佇列；orderId 透明不重編，重複 orderId 冪等忽略。
Available only on servers:
介面名稱，本平台固定 vda5050。
協定 major 版本，本平台為 v3。
製造商識別，逐案設定。
車輛序號，逐車唯一。
Accepts the following message:
The message schema to communicate orders from fleet control to the mobile robot.
The message schema to communicate orders from fleet control to the mobile robot.
{
"headerId": 1,
"timestamp": "2026-01-01T09:30:00.000Z",
"version": "3.0.0",
"manufacturer": "rotasun",
"serialNumber": "amr-0000",
"orderId": "demo-001",
"orderUpdateId": 0,
"nodes": [
{
"nodeId": "n1",
"sequenceId": 0,
"released": true,
"nodePosition": {
"x": 1,
"y": 2,
"mapId": "site-1"
},
"actions": []
}
],
"edges": []
}
僅 emergencyStop／startPause／cancelOrder 三個受理。
僅 emergencyStop／startPause／cancelOrder 三個受理。
Available only on servers:
介面名稱，本平台固定 vda5050。
協定 major 版本，本平台為 v3。
製造商識別，逐案設定。
車輛序號，逐車唯一。
Accepts the following message:
JSON Schema for publishing instantActions that the mobile robot is to execute as soon as they arrive.
JSON Schema for publishing instantActions that the mobile robot is to execute as soon as they arrive.
{
"headerId": 2,
"timestamp": "2026-01-01T09:31:00.000Z",
"version": "3.0.0",
"manufacturer": "rotasun",
"serialNumber": "amr-0000",
"actions": [
{
"actionId": "estop-001",
"actionType": "emergencyStop",
"blockingType": "NONE"
}
]
}
State of the mobile robot.
State of the mobile robot.
The last will message of the mobile robot. Has to be sent with retain flag. Once the mobile robot comes online, it has to send this message on its connect topic, with the connectionState enum set to "ONLINE". The last will message is to be configured with the connection state set to "CONNECTIONBROKEN". Thus, if the mobile robot disconnects from the broker, fleet control gets notified via the topic "connection". If the mobile robot is disconnecting in an orderly fashion (e.g. shutting down, sleeping), the mobile robot is to publish a message on this topic with the connectionState set to "DISCONNECTED".
The last will message of the mobile robot. Has to be sent with retain flag. Once the mobile robot comes online, it has to send this message on its connect topic, with the connectionState enum set to "ONLINE". The last will message is to be configured with the connection state set to "CONNECTIONBROKEN". Thus, if the mobile robot disconnects from the broker, fleet control gets notified via the topic "connection". If the mobile robot is disconnecting in an orderly fashion (e.g. shutting down, sleeping), the mobile robot is to publish a message on this topic with the connectionState set to "DISCONNECTED".
The message schema to communicate orders from fleet control to the mobile robot.
The message schema to communicate orders from fleet control to the mobile robot.
JSON Schema for publishing instantActions that the mobile robot is to execute as soon as they arrive.
JSON Schema for publishing instantActions that the mobile robot is to execute as soon as they arrive.
State of the mobile robot.
The last will message of the mobile robot. Has to be sent with retain flag. Once the mobile robot comes online, it has to send this message on its connect topic, with the connectionState enum set to "ONLINE". The last will message is to be configured with the connection state set to "CONNECTIONBROKEN". Thus, if the mobile robot disconnects from the broker, fleet control gets notified via the topic "connection". If the mobile robot is disconnecting in an orderly fashion (e.g. shutting down, sleeping), the mobile robot is to publish a message on this topic with the connectionState set to "DISCONNECTED".
The message schema to communicate orders from fleet control to the mobile robot.
JSON Schema for publishing instantActions that the mobile robot is to execute as soon as they arrive.