{
    "$schema": "https://json-schema.org/draft/2020-12/schema",
    "title": "visualization",
    "description": "AGV position and/or velocity for visualization purposes. Can be published at a higher rate if wanted. Since bandwidth may be expensive depening on the update rate for this topic, all fields are optional.",
    "subtopic": "/visualization",
    "type": "object",
    "properties": {
        "headerId": {
            "type": "integer",
            "description": "headerId of the message. The headerId is defined per topic and incremented by 1 with each sent (but not necessarily received) message."
        },
        "timestamp": {
            "type": "string",
            "format": "date-time",
            "description": "Timestamp in ISO8601 format (YYYY-MM-DDTHH:mm:ss.ffZ).",
            "examples": [
                "1991-03-11T11:40:03.12Z"
            ]
        },
        "version": {
            "type": "string",
            "description": "Version of the protocol [Major].[Minor].[Patch]",
            "examples": [
                "1.3.2"
            ]
        },
        "manufacturer": {
            "type": "string",
            "description": "Manufacturer of the AGV"
        },
        "serialNumber": {
            "type": "string",
            "description": "Serial number of the AGV."
        },
        "agvPosition": {
            "type": "object",
            "title": "agvPosition",
            "description": "The AGVs position",
            "required": [
                "x",
                "y",
                "theta",
                "mapId",
                "positionInitialized"
            ],
            "properties": {
                "x": {
                    "type": "number"
                },
                "y": {
                    "type": "number"
                },
                "theta": {
                    "type": "number"
                },
                "mapId": {
                    "type": "string"
                },
                "mapDescription": {
                    "type": "string"
                },
                "positionInitialized": {
                    "type": "boolean",
                    "description": "True if the AGVs position is initialized, false, if position is not initizalized."
                },
                "localizationScore": {
                    "type": "number",
                    "description": "Localization score for SLAM based vehicles, if the AGV can communicate it.",
                    "minimum": 0.0,
                    "maximum": 1.0
                },
                "deviationRange": {
                    "type": "number",
                    "description": "Value for position deviation range in meters. Can be used if the AGV is able to derive it."
                }
            }
        },
        "velocity": {
            "type": "object",
            "title": "velocity",
            "description": "The AGVs velocity in vehicle coordinates",
            "properties": {
                "vx": {
                    "type": "number"
                },
                "vy": {
                    "type": "number"
                },
                "omega": {
                    "type": "number"
                }
            }
        }
    }
}