MQTT integration

To make your robot talk to your MQTT broker and integrate with home automation software, such as but not limited to Home Assistant, openHAB and Node-RED, configure MQTT via Valetudo’s web interface (Settings → MQTT).

Autodiscovery

See the specific integration pages for instructions on how to set up autodiscovery for your home automation software platform:

• Home Assistant
• openHAB
• Node-RED

Other home automation software that follows the Homie convention should also be able to automatically discover your Valetudo instance.

Map

Note that, in order to view the map provided over MQTT, you additionally need I Can’t Believe It’s Not Valetudo to generate PNG maps. You can then configure it to serve the PNG map over HTTP for openHAB and other software, or install the Lovelace Valetudo Card Map for Home Assistant.

Custom integrations

If you’re planning to use one of the home automation platforms listed above, this is all you need to know to get started.

If you’re instead planning to do something more custom, in this document you will find a reference to all MQTT topics provided by this software. Values such as <TOPIC PREFIX> and <IDENTIFIER> are those configured in the MQTT settings page.

Tip: It is recommended to leave Homie autodiscovery enabled, even if you’re not planning to use it, if you want to develop custom integrations or access the MQTT topics directly: the Homie protocol is very readable and self-documenting. It will provide additional context and information on how to use specific APIs.

Homie autodiscovery info is best viewed with something like MQTT Explorer.

Table of contents

• Robot
  • Capabilities
    • Auto Empty Dock Manual Trigger (AutoEmptyDockManualTriggerCapability)
      • Auto Empty Dock Manual Trigger (trigger)
    • Basic control (BasicControlCapability)
      • Operation (operation)
    • Consumables monitoring (ConsumableMonitoringCapability)
      • Consumable (minutes) (<CONSUMABLE-MINUTES>)
      • Consumable (percent) (<CONSUMABLE-PERCENT>)
      • Refresh consumables (refresh)
    • Current Statistics (CurrentStatisticsCapability)
      • Current Statistics Area (area)
      • Current Statistics Time (time)
      • Refresh current statistics (refresh)
    • Fan speed control (FanSpeedControlCapability)
      • Fan speed (preset)
    • Go to location (GoToLocationCapability)
      • Go to location (go)
    • Locate (LocateCapability)
      • Locate (locate)
    • Segment cleaning (MapSegmentationCapability)
      • Clean segments (clean)
    • Water grade control (WaterUsageControlCapability)
      • Water grade (preset)
    • Wi-Fi configuration (WifiConfigurationCapability)
      • Frequency (frequency)
      • IP addresses (ips)
      • Refresh configuration (refresh)
      • Signal (signal)
      • Wireless network (ssid)
    • Zone cleaning (ZoneCleaningCapability)
      • Start zoned cleaning (start)
  • Map data
    • Map (map)
    • Map segments (segments)
    • Raw map data (map-data)
    • Raw map data for Home Assistant (map-data-hass)
  • Status
    • Attachment state (AttachmentStateAttribute)
      • Dust bin (dustbin)
      • Mop (mop)
      • Water tank (watertank)
    • Battery state (BatteryStateAttribute)
      • Battery level (level)
      • Battery status (status)
    • Vacuum status (StatusStateAttribute)
      • Error description (error)
      • Status (status)
      • Status detail (detail)

State attributes index

• AttachmentStateAttribute
• BatteryStateAttribute
• ConsumableStateAttribute
• PresetSelectionStateAttribute
• StatusStateAttribute

Home Assistant components index

• Consumable (minutes) (sensor.mqtt)
• Consumable (percent) (sensor.mqtt)
• Current Statistics Area (sensor.mqtt)
• Current Statistics Time (sensor.mqtt)
• Dust bin attachment (binary_sensor.mqtt)
• Error description (sensor.mqtt)
• Map data (camera.mqtt)
• Map segments (sensor.mqtt)
• Mop attachment (binary_sensor.mqtt)
• Vacuum (vacuum.mqtt)
• Water grade (select.mqtt)
• Water tank attachment (binary_sensor.mqtt)
• Wi-Fi configuration (sensor.mqtt)

MQTT API reference

Robot

Device

Home Assistant components controlled by this device:

• Vacuum (vacuum.mqtt)

Capabilities

Auto Empty Dock Manual Trigger (AutoEmptyDockManualTriggerCapability)

Node, capability: AutoEmptyDockManualTriggerCapability

Auto Empty Dock Manual Trigger (trigger)

Property, command, not retained

• Command topic: <TOPIC PREFIX>/<IDENTIFIER>/AutoEmptyDockManualTriggerCapability/trigger/set
• Command response topic: <TOPIC PREFIX>/<IDENTIFIER>/AutoEmptyDockManualTriggerCapability/trigger
• Data type: enum (allowed payloads: PERFORM)

Basic control (BasicControlCapability)

Node, capability: BasicControlCapability

Operation (operation)

Property, command, not retained

• Command topic: <TOPIC PREFIX>/<IDENTIFIER>/BasicControlCapability/operation/set
• Command response topic: <TOPIC PREFIX>/<IDENTIFIER>/BasicControlCapability/operation
• Data type: enum (allowed payloads: START, STOP, PAUSE, HOME)

Consumables monitoring (ConsumableMonitoringCapability)

Node, capability: ConsumableMonitoringCapability

Warning: Some information contained in this document may not be exactly what is sent or expected by actual robots, since different vendors have different implementations. Refer to the table below.

What	Reason
Properties	Consumables depend on the robot model.
Property datatype and units	Some robots send consumables as remaining time, others send them as endurance percent remaining.

Status attributes managed by this node:

• ConsumableStateAttribute

Consumable (minutes) (<CONSUMABLE-MINUTES>)

Property, readable, retained

This handle returns the consumable remaining endurance time as an int representing seconds remaining.

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/ConsumableMonitoringCapability/<CONSUMABLE-MINUTES>
• Data type: integer

Sample value:

29520

Home Assistant components controlled by this property:

• Consumable (minutes) (sensor.mqtt)

Consumable (percent) (<CONSUMABLE-PERCENT>)

Property, readable, retained

This handle returns the consumable remaining endurance percentage.

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/ConsumableMonitoringCapability/<CONSUMABLE-PERCENT>
• Data type: integer percentage (range: 0 to 100, unit: %)

Sample value:

59

Home Assistant components controlled by this property:

• Consumable (percent) (sensor.mqtt)

Refresh consumables (refresh)

Property, command, not retained

If set to PERFORM, it will attempt to refresh the consumables from the robot. Note that there’s no need to do it manually, consumables are refreshed automatically every 30 seconds by default.

• Command topic: <TOPIC PREFIX>/<IDENTIFIER>/ConsumableMonitoringCapability/refresh/set
• Command response topic: <TOPIC PREFIX>/<IDENTIFIER>/ConsumableMonitoringCapability/refresh
• Data type: enum (allowed payloads: PERFORM)

Current Statistics (CurrentStatisticsCapability)

Node, capability: CurrentStatisticsCapability

Current Statistics Area (area)

Property, readable, retained

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/CurrentStatisticsCapability/area
• Data type: integer (unit: cm²)

Sample value:

630000

Home Assistant components controlled by this property:

• Current Statistics Area (sensor.mqtt)

Refresh current statistics (refresh)

Property, command, not retained

• Command topic: <TOPIC PREFIX>/<IDENTIFIER>/CurrentStatisticsCapability/refresh/set
• Command response topic: <TOPIC PREFIX>/<IDENTIFIER>/CurrentStatisticsCapability/refresh
• Data type: enum (allowed payloads: PERFORM)

Current Statistics Time (time)

Property, readable, retained

This handle returns the current statistics time in seconds

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/CurrentStatisticsCapability/time
• Data type: integer (unit: seconds)

Sample value:

1440

Home Assistant components controlled by this property:

• Current Statistics Time (sensor.mqtt)

Fan speed control (FanSpeedControlCapability)

Node, capability: FanSpeedControlCapability

Status attributes managed by this node:

• PresetSelectionStateAttribute

Fan speed (preset)

Property, readable, settable, retained

This handle allows setting the fan speed. It accepts the preset payloads specified in $format or in the HAss json attributes.

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/FanSpeedControlCapability/preset
• Set topic: <TOPIC PREFIX>/<IDENTIFIER>/FanSpeedControlCapability/preset/set
• Data type: enum (allowed payloads: off, min, low, medium, high, turbo, max)

Warning: Some information contained in this document may not be exactly what is sent or expected by actual robots, since different vendors have different implementations. Refer to the table below.

What	Reason
Enum payloads	Different robot models have different fan speed presets. Always check $format/json_attributes during startup.

Sample value:

max

Go to location (GoToLocationCapability)

Node, capability: GoToLocationCapability

Go to location (go)

Property, command, not retained

This handle accepts a JSON object identical to the one used by the REST API.

Please refer to the “General Help” section in Valetudo for more information.

Sample payload:

{
  "coordinates": {
    "x": 50,
    "y": 50
  }
}

• Command topic: <TOPIC PREFIX>/<IDENTIFIER>/GoToLocationCapability/go/set
• Command response topic: <TOPIC PREFIX>/<IDENTIFIER>/GoToLocationCapability/go
• Data type: string (format: same json as the REST interface)

Locate (LocateCapability)

Node, capability: LocateCapability

Locate (locate)

Property, command, not retained

• Command topic: <TOPIC PREFIX>/<IDENTIFIER>/LocateCapability/locate/set
• Command response topic: <TOPIC PREFIX>/<IDENTIFIER>/LocateCapability/locate
• Data type: enum (allowed payloads: PERFORM)

Segment cleaning (MapSegmentationCapability)

Node, capability: MapSegmentationCapability

Clean segments (clean)

Property, command, not retained

This handle accepts a JSON object identical to the one used by the REST API.

Please refer to the “General Help” section in Valetudo for more information.

Sample payload:

{
  "segment_ids": [
    "20",
    "18",
    "16"
  ],
  "iterations": 2,
  "customOrder": true
}

• Command topic: <TOPIC PREFIX>/<IDENTIFIER>/MapSegmentationCapability/clean/set
• Command response topic: <TOPIC PREFIX>/<IDENTIFIER>/MapSegmentationCapability/clean
• Data type: string (format: same json as the REST interface)

Water grade control (WaterUsageControlCapability)

Node, capability: WaterUsageControlCapability

Status attributes managed by this node:

• PresetSelectionStateAttribute

Water grade (preset)

Property, readable, settable, retained

This handle allows setting the water grade. It accepts the preset payloads specified in $format or in the HAss json attributes.

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/WaterUsageControlCapability/preset
• Set topic: <TOPIC PREFIX>/<IDENTIFIER>/WaterUsageControlCapability/preset/set
• Data type: enum (allowed payloads: off, min, low, medium, high, turbo, max)

Warning: Some information contained in this document may not be exactly what is sent or expected by actual robots, since different vendors have different implementations. Refer to the table below.

What	Reason
Enum payloads	Different robot models have different water grade presets. Always check $format/json_attributes during startup.

Sample value:

min

Home Assistant components controlled by this property:

• Water grade (select.mqtt)

Wi-Fi configuration (WifiConfigurationCapability)

Node, capability: WifiConfigurationCapability

Home Assistant components controlled by this node:

• Wi-Fi configuration (sensor.mqtt)

Frequency (frequency)

Property, readable, retained

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/WifiConfigurationCapability/frequency
• Data type: string

Sample value:

2.4ghz

IP addresses (ips)

Property, readable, retained

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/WifiConfigurationCapability/ips
• Data type: string

Sample value:

192.168.100.100,fe80::1ff:fe23:4567:890a,fdff:ffff:ffff:ffff:ffff:ffff:ffff:ffff

Refresh configuration (refresh)

Property, command, not retained

• Command topic: <TOPIC PREFIX>/<IDENTIFIER>/WifiConfigurationCapability/refresh/set
• Command response topic: <TOPIC PREFIX>/<IDENTIFIER>/WifiConfigurationCapability/refresh
• Data type: enum (allowed payloads: PERFORM)

Signal (signal)

Property, readable, retained

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/WifiConfigurationCapability/signal
• Data type: integer (unit: dBm)

Sample value:

-54

Wireless network (ssid)

Property, readable, retained

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/WifiConfigurationCapability/ssid
• Data type: string

Sample value:

Valetudo Wi-Fi

Zone cleaning (ZoneCleaningCapability)

Node, capability: ZoneCleaningCapability

Start zoned cleaning (start)

Property, command, not retained

This handle accepts a JSON object identical to the one used by the REST API.

Please refer to the “General Help” section in Valetudo for more information.

Sample payload:

{
  "zones": [
    {
      "iterations": 1,
      "points": {
        "pA": {
          "x": 50,
          "y": 50
        },
        "pB": {
          "x": 100,
          "y": 50
        },
        "pC": {
          "x": 100,
          "y": 100
        },
        "pD": {
          "x": 50,
          "y": 100
        }
      }
    }
  ]
}

• Command topic: <TOPIC PREFIX>/<IDENTIFIER>/ZoneCleaningCapability/start/set
• Command response topic: <TOPIC PREFIX>/<IDENTIFIER>/ZoneCleaningCapability/start
• Data type: string (format: same json as the REST interface)

Map data

Node

This handle groups access to map data. It is only enabled if provideMapData is enabled in the MQTT config.

Map (map)

Property, readable, retained

This handle is only enabled if interfaces.homie.addICBINVMapProperty is enabled in the config. It does not actually provide map data, it only adds a Homie autodiscovery property so that ‘I Can’t Believe It’s Not Valetudo’ can publish its map within the robot’s topics and be autodetected by clients.

ICBINV should be configured so that it publishes the map to this topic.

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/MapData/map
• Data type: string

Raw map data (map-data)

Property, readable, retained

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/MapData/map-data
• Data type: string

Raw map data for Home Assistant (map-data-hass)

Property, readable, retained

This handle is added automatically if Home Assistant autodiscovery is enabled. It provides a map embedded in a PNG image that recommends installing the Valetudo Lovelace card.

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/MapData/map-data-hass
• Data type: string

Home Assistant components controlled by this property:

• Map data (camera.mqtt)

Map segments (segments)

Property, readable, retained

This property contains a JSON mapping of segment IDs to segment names.

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/MapData/segments
• Data type: string (JSON)

Sample value:

{}

Home Assistant components controlled by this property:

• Map segments (sensor.mqtt)

Status

Attachment state (AttachmentStateAttribute)

Node

Status attributes managed by this node:

• AttachmentStateAttribute

Dust bin (dustbin)

Property, readable, retained

This handle reports whether the dust bin attachment is installed.

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/AttachmentStateAttribute/dustbin
• Data type: boolean

Sample value:

true

Home Assistant components controlled by this property:

• Dust bin attachment (binary_sensor.mqtt)

Mop (mop)

Property, readable, retained

This handle reports whether the mop attachment is installed.

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/AttachmentStateAttribute/mop
• Data type: boolean

Sample value:

false

Home Assistant components controlled by this property:

• Mop attachment (binary_sensor.mqtt)

Water tank (watertank)

Property, readable, retained

This handle reports whether the water tank attachment is installed.

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/AttachmentStateAttribute/watertank
• Data type: boolean

Sample value:

true

Home Assistant components controlled by this property:

• Water tank attachment (binary_sensor.mqtt)

Battery state (BatteryStateAttribute)

Node

Status attributes managed by this node:

• BatteryStateAttribute

Battery level (level)

Property, readable, retained

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/BatteryStateAttribute/level
• Data type: integer percentage (unit: %)

Sample value:

42

Battery status (status)

Property, readable, retained

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/BatteryStateAttribute/status
• Data type: enum (allowed payloads: none, charging, discharging, charged)

Sample value:

charging

Vacuum status (StatusStateAttribute)

Node

Status attributes managed by this node:

• StatusStateAttribute

Status detail (detail)

Property, readable, retained

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/StatusStateAttribute/detail
• Data type: enum (allowed payloads: none, zone, segment, spot, target, resumable, mapping)

Sample value:

segment

Error description (error)

Property, readable, retained

The error description will only be populated when the robot reports an error. Errors in Valetudo not reported by the robot won’t be sent here.

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/StatusStateAttribute/error
• Data type: string

Home Assistant components controlled by this property:

• Error description (sensor.mqtt)

Status (status)

Property, readable, retained

• Read topic: <TOPIC PREFIX>/<IDENTIFIER>/StatusStateAttribute/status
• Data type: enum (allowed payloads: error, docked, idle, returning, cleaning, paused, manual_control, moving)

Sample value:

cleaning