Connect NetworkTables

EagleEye joins NetworkTables as a client named EagleEye. The roboRIO, or a simulation host, is the server. Every pipeline publisher writes below the fixed EagleEye table.

1. Point EagleEye at the roboRIO

1. Open Settings.
2. Under Network Table, enter the robot address.
3. Click Save Settings.
4. Restart the backend.

Address	Use
10.TE.AM.2	Normal robot network, such as 10.33.22.2 for team 3322
roborio-TEAM-frc.local	Robot network when mDNS is reliable
172.22.11.2	roboRIO over USB
127.0.0.1	Simulation server on the same computer
Simulation host LAN or Tailscale IP	Simulation on another computer reachable from EagleEye

The status indicator beside the address should report a connection. If it does not, ping the roboRIO from the coprocessor and confirm robot code is running.

2. Use the localization contract

The bundled localization templates publish two timestamp-matched values. These use front as the example source:

Full topic	Type	Contents
EagleEye/localization/front/pose	Pose3d struct	Robot pose in field coordinates
EagleEye/localization/front/meta	double[3]	Tag count, mean tag distance in metres, and reprojection error in pixels

Wizard-generated Localize and Both pipelines use the same /pose and /meta contract, but replace front with a source derived from the hardware camera name, with a suffix when needed. A placement description such as Front bumper does not become a topic name. Later name edits in Settings → Camera Names leave publisher keys unchanged.

In Publish To NetworkTables, target_key is relative to the EagleEye table. Enter localization/front/pose, not EagleEye/localization/front/pose. For a generated pipeline, copy its actual pose and metadata target_key values into the Java constructor. See Find your source keys.

Pose translation uses corner-origin NWU meters; yaw is counterclockwise-positive. Use the Java integration guide for estimator code and coordinate details.

The pose and metadata publishers must remain on single-input paths from the same PnP solve. EagleEye carries the capture timestamp through both paths, and the robot library joins the values by exact timestamp. Publishers retain unchanged values at new timestamps; stationary observations must still reach the robot.

Robot Pose Output is not a publisher

Robot Pose Output updates the WebUI 3D view. Only Publish To NetworkTables writes to NetworkTables. The templates connect both independently so the 3D view cannot suppress repeated stationary poses from the robot.

3. Verify the topics

Use AdvantageScope, OutlineViewer, or your dashboard's NetworkTables viewer. With mapped tags visible, confirm both topics appear below EagleEye and update together. For wizard-generated pipelines, use the exact keys listed in the final verification panel or inspect the publisher nodes. Do not assume the source is front just because the camera's placement name says front.

If pose appears without metadata, EagleEyeCamera drops it because it cannot choose measurement uncertainty. If metadata appears without pose, check the Camera To Robot Pose connection and pose publisher.

Other publisher settings

Setting	Meaning
target_key	Key below the EagleEye table
schema	WPILib type conversion. Use pose3d for the robot-library pose topic
data_path	Optional path into structured input; leave empty to publish the whole value

Unsupported values pass to downstream pipeline nodes but are not published.

Reading robot values in EagleEye

Get NetworkTables Value reads a robot key into a pipeline. One planned use is supplying gyro yaw to constrained PnP. The solver supports yaw input, but the shipped localization templates do not enable that connection yet.

Troubleshooting

Symptom	Check
Status never connects	Robot address, network path, and whether robot code is running
EagleEye table exists but keys do not	Pipeline state and Publish To NetworkTables nodes
Pose freezes while stationary	Check direct Camera To Robot Pose publishing and duplicate retention; inspect timestamps rather than position changes
Robot warns that a key is missing	Compare both Java constructor keys with publisher target_key values
Works over USB but not radio	Replace 172.22.11.2 with the normal team address

Next: Build an AprilTag Pipeline, then Add EagleEye to robot code.