Message Theme Taxonomy
The public message tree follows robotics semantics rather than subsystem role or runtime implementation.
Rules
msg.core.*contains reusable mathematical and cross-domain payload types- direct domain families such as
msg.motion.*,msg.locomotion.*,msg.actuator.*, andmsg.sensor.*own domain data msg.capability.*contains app-facing capability payloadscomponent.*is reserved for API compatibility bundles, not messages- transport identity, lifecycle, and timing envelopes remain runtime-internal
Core Families
| Family | Purpose |
|---|---|
msg.core.common.primitive.v1 |
empty bodies, named scalar wrappers, channel values, durations, and explicit domain timestamps |
msg.core.spatial.v1 |
pure spatial quantities such as Pose, Twist, Wrench, and Accel |
msg.core.kinematics.v1 |
joint values, limits, commands, and articulated state |
msg.core.linalg.v1 |
matrices and numerical vector structures |
msg.core.diagnostics.v1 |
public diagnostic observations |
Pose, Twist, and other spatial primitives do not carry a frame or
timestamp by default. Fixed frames are API semantics. Dynamic frames belong to
the domain message that owns the spatial value.
Domain Families
| Family | Purpose |
|---|---|
msg.actuator.drive.v1 |
deterministic drive commands and state |
msg.actuator.servo.v1 |
low-level joint and actuator servo exchange |
msg.motion.articulated.v1 |
generic jointed-mechanism motion |
msg.motion.manipulator.v1 |
manipulator task-space, tooling, calibration, and kinematics |
msg.motion.execution.v1 |
shared motion execution state and scaling |
msg.locomotion.velocity.v1 |
body-velocity commands, acknowledgement, limits, and stop |
msg.locomotion.mobile_base.v1 |
mobile-base state, odometry, authority, and differential-drive data |
msg.locomotion.legged.v1 |
gait, contact, balance, and support state |
msg.sensor.camera.v1 |
image frames and camera calibration |
msg.localization.v1 |
pose estimates and localization status |
msg.mapping.v1 |
maps and mapping state |
msg.navigation.v1 |
goals, paths, feedback, results, and navigation state |
msg.perception.v1 |
queries, detections, object poses, and perception streams |
msg.diagnostics.health.v1 |
health checks and diagnostic results |
Capability Families
| Family | Purpose |
|---|---|
msg.capability.common.v1 |
common capability result |
msg.capability.mobility.v1 |
app-facing body motion and stop |
msg.capability.manipulation.v1 |
reach and gripper semantics |
msg.capability.perception.v1 |
semantic object query and result summary |
msg.capability.operation.v1 |
capability operation state where a shared operation representation is required |
Timing Boundary
An Event callback receives observed, published, and received timestamps from the runtime envelope. A timed Control response reports command generation, sending, scheduling, dispatch, sampling, completion, response, and lateness.
Payload time is retained only when it is data in its own right. Examples include trajectory point times, historical query ranges, batched samples acquired at different times, and raw device-clock readings.