Real-time Debugger

The real-time debugger provides an interactive REST client to inspect and subscribe to live robot telemetry and sensor data.

Real-time Debugging Interface — Real-time Debug: Subscribe and view topic data from the messaging bus

Messaging Protocol

Ticos uses an efficient pub/sub model for robot communication. Robots publish sensor data and telemetry, which can be subscribed to via the REST API for real-time visualization and debugging.

Topic Pattern

Ticos follows a standardized topic naming convention:

{robot-identifier}/rt/{component}/{sensor}/{data-type}

Common Examples

Topic	Description
`robot-001/rt/unilidar/cloud`	LiDAR point cloud data
`robot-001/rt/unilidar/imu`	IMU inertial data
`robot-001/rt/realsense/D435_1/depth/image_rect_raw`	Depth camera stream
`robot-001/rt/motor/encoders`	Motor encoder feedback
`robot-001/rt/motor/twist`	Chassis velocity commands
`robot-001/rt/arm/servo_states`	Robotic arm joint states
`{identifier}/status/ticos-agent/health`	Agent health telemetry

Workflow

In the Lab → Real-time Debug page:

Enter the REST API endpoint
Search or filter for specific topic keys
Inspect returned payloads and data freshness

Debug Tips

Verify Connection: If UI widgets show “Disconnected”, use this tool to confirm if the messaging topics are actually receiving data.
Data Schema: Most sensor data uses CDR encoding; the interface shows raw base64 data which is then parsed by visualization widgets.
Discovery: Use wildcards like * to query and discover all available topics on a specific robot.