> For the complete documentation index, see [llms.txt](https://docs.dextoros.app/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.dextoros.app/connect-robots/transports.md).

# Transports

The ways a robot can talk to DextorOS, and the settings each one uses.

{% hint style="warning" %}
**Draft.** Some details on this page are still being confirmed and may change. Questions? Email <info@dextoros.app>.
{% endhint %}

A robot talks to DextorOS over one transport. You choose it when you generate the robot's connector, and DextorOS writes the matching settings into `dextoros-connector.yaml`.

| Transport | `transport:` value | Use it when                                                           |
| --------- | ------------------ | --------------------------------------------------------------------- |
| WebSocket | `websocket`        | The robot has a network connection and no preferred messaging system. |
| MQTT      | `mqtt`             | The robot already uses an MQTT broker.                                |
| ROS 2     | `ros2`             | The robot runs ROS 2.                                                 |
| Serial    | `serial`           | The robot is reached over a serial link from a nearby computer.       |
| Test mode | `test`             | You want to try the setup without real hardware.                      |

## Settings by transport

In these examples the robot's slug is `amr-11`.

{% tabs %}
{% tab title="WebSocket" %}

```yaml
transport: websocket
endpoint: wss://fleet.dextoros.app/robots/amr-11
```

{% endtab %}

{% tab title="MQTT" %}

```yaml
transport: mqtt
broker: mqtts://fleet.dextoros.app:8883
topic: robots/amr-11
```

{% endtab %}

{% tab title="ROS 2" %}

```yaml
transport: ros2
bridge: wss://fleet.dextoros.app/ros2/amr-11
ros_domain_id: 0
```

{% endtab %}

{% tab title="Serial" %}

```yaml
transport: serial
device: /dev/ttyUSB0
baud_rate: 115200
relay: wss://fleet.dextoros.app/robots/amr-11
```

`device` and `baud_rate` are the defaults. Change them to match your serial port.
{% endtab %}

{% tab title="Test mode" %}

```yaml
transport: test
endpoint: wss://fleet.dextoros.app/test/amr-11
simulate: true
```

{% endtab %}
{% endtabs %}

{% hint style="info" %}
Changing a robot's transport after it has paired means reinstalling the connector. See [Keys and pairing](/connect-robots/keys-and-pairing.md).
{% endhint %}


---

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