---
title: "Get the combined Autonomy, Navigation and Vehicle feedback from the Polymath system"
method: GET
path: "/v1/vehicles/{vehicleId}/feedback"
tags: ["Vehicle Autonomy"]
---

# Get the combined Autonomy, Navigation and Vehicle feedback from the Polymath system

`GET /v1/vehicles/{vehicleId}/feedback`

## Request

- Base URL: `https://api.polymathrobotics.dev`
- URL: `https://api.polymathrobotics.dev/v1/vehicles/{vehicleId}/feedback`
- Auth: HTTP bearer

Returns combined autonomy, navigation, and vehicle feedback from the Polymath system.

## Path parameters

- `vehicleId` string, required

## Response `200`

Combined autonomy, navigation, and vehicle feedback.

- PolymathFeedbackResponse
  - `status` string
  - `message` string
  - `data` PolymathFeedbackData
    - `polymath_feedback` PolymathFeedback, required
      - `timestamp_utc` TimeStamp
        - `sec` integer
        - `nanosec` integer
      - `cortex_status` CortexStatus
        - `status` unknown
        - `status_text` string
        - `description` string
      - `navigation_feedback` NavigationFeedback, required
        - `nav2_goal_status` NavigationGoalStatus
          - `goal_info` GoalInfo, required
            - `goal_id` UUID
              - …
            - `stamp` Stamp, required
              - …
          - `status` unknown, required
          - `status_text` string
          - `text` string
        - `total_distance_remaining` number: Total remaining distance to the goal, in meters.
        - `target_pose` PoseWithHeader
          - `header` Header, required
            - `stamp` Stamp, required
              - …
            - `frame_id` string, required
          - `pose` Pose, required
            - `position` Position, required
              - …
            - `orientation` Orientation, required
              - …
        - `final_pose` PoseWithHeader
          - `header` Header, required
            - `stamp` Stamp, required
              - …
            - `frame_id` string, required
          - `pose` Pose, required
            - `position` Position, required
              - …
            - `orientation` Orientation, required
              - …
        - `current_pose_index` integer
        - `number_of_poses_remaining` integer
        - `navigation_time` Stamp
          - `sec` integer
          - `nanosec` integer
        - `estimated_time_remaining` Stamp
          - `sec` integer
          - `nanosec` integer
      - `vehicle_feedback` VehicleFeedback, required
        - `state` string
        - `description` string
        - `data` unknown[]
          - unknown
      - `current_pose` PoseWithHeader, required
        - `header` Header, required
          - `stamp` Stamp, required
            - `sec` integer
            - `nanosec` integer
          - `frame_id` string, required
        - `pose` Pose, required
          - `position` Position, required
            - `latitude` number, required
            - `longitude` number, required
            - `altitude` number, required
          - `orientation` Orientation, required
            - `x` number, required
            - `y` number, required
            - `z` number, required
            - `w` number, required
      - `current_command_index` integer, required: DEPRECATED: has always meant "front of queue". Use current_command_id instead.
      - `current_command_id` string: Id of the command currently executing, in canonical UUID string form. Matches one of the command_ids returned when the command was submitted. The nil UUID when nothing is active.
      - `number_commands_remaining` integer, required

## Other responses

- `500`: Internal server error

## Changes

- **2026-09-19** `ec1df815bbd3`: 1 breaking, 4 info
  - the `data/polymath_feedback/timestamp_utc` response's property type changed from no type to `object` for status `200`
  - added the optional property `data/polymath_feedback/timestamp_utc/nanosec` to the response with the `200` status
  - added the optional property `data/polymath_feedback/timestamp_utc/sec` to the response with the `200` status
  - removed `#/components/schemas/TimeStamp` from the `data/polymath_feedback/timestamp_utc` response property `allOf` list for the response status `200`
  - …1 more
- **2026-09-09** `7bb062ddb622`: 1 info
  - endpoint added

[Operation history](https://skmtc.dev/polymathrobotics/apis/polymath-api/changes/v1/vehicles/:vehicleId/feedback/get.md)

---

[API](https://skmtc.dev/polymathrobotics/apis/polymath-api.md) - [All operations](https://skmtc.dev/polymathrobotics/apis/polymath-api/llms.txt) - [OpenAPI document](https://skmtc.dev/polymathrobotics/apis/polymath-api/revisions/3b5ff2f21338?raw)