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R2Kernel™ Runtime Kernel for Robotics 1.0.0rc10
R2Kernel™ Runtime Kernel for Robotics 1.0.0rc10

    Contracts And Components

    R2Kernel uses two primitive public spec families and one compatibility bundle.

    Family Owns Example
    msg.* payload datatype and field layout msg.core.spatial.v1/Pose
    api.* Event, Control, Procedure, and Operation endpoints api.locomotion.velocity.v1
    component.* replacement-compatible bundle of required APIs component.mobile_base.v1

    The runtime envelope is not a fourth public payload family. R2Kernel adds identity, transport timing, execution timing, status, and lifecycle metadata around typed payloads at runtime.

    How The Layers Connect

    msg.* payloads
    -> api.* endpoint contracts
        -> component.* compatibility bundles for component-role subsystems
            -> compound exports selected api.* contracts to apps

    An API is deliberately smaller than a component. For example, component.mobile_base.v1 requires locomotion velocity and mobile-base state APIs. Optional odometry or differential-drive APIs do not change the meaning of the required bundle.

    An exported API is not a new contract family and not a second implementation. It is a name on the compound platform boundary that selects one API already in a required component's conformance bundle. Composing multiple API calls remains application logic; a reusable high-level implementation remains a component.

    Subsystem Roles

    All executable units are subsystems. Their role determines the normal contract boundary.

    Role Normal requirements Normal provides
    gateway device and host resources public api.* hardware abstractions
    component gateway APIs or other component.* contracts, plus CPU resources one component.* compatibility bundle
    compound component.* contracts and their spatial surfaces spatial ports, static mounts, and declarative API exports
    app api.* contracts exported by a compound package-specific status or operator surfaces when needed

    Gateway subsystems are the only role that directly owns device-level hardware communication. A simulator-backed device follows the same boundary and is treated as a device behind its gateway.

    Public And Package-Local Contracts

    Official gateway and component provides must resolve to the installed public R2Kernel dictionary. This protects replacement compatibility.

    Product-specific behavior can be package-local when no stable public semantic standard exists. The cleaner tutorial does not need such a contract for trash disposal: its trash_disposal export is a platform-local alias for the standard api.r2kernel.actuation.trigger.v1 contract, implemented by the standard component.r2kernel.trigger_actuator.v1 component surface. The component keeps its configured incinerator channel and raw digital-output binding private.

    Source Of Truth

    • spec/messages
    • spec/apis
    • spec/components

    The installed SDK mirrors this tree. The runtime validator and Web Console Spec Dictionary read the same definitions.