Skip to content
R2Kernel™ Runtime Kernel for Robotics 1.0.0rc10
R2Kernel™ Runtime Kernel for Robotics 1.0.0rc10

    Domain Coverage

    This page defines the canonical R2Kernel domain structure.

    Namespace Structure

    Layer Namespace family Meaning
    message msg.core.* shared robotics and runtime-neutral concepts
    message msg.motion.* articulated and manipulator motion payloads
    message msg.locomotion.* locomotion payloads
    message msg.actuator.* lower-level actuator payloads
    message msg.sensor.* sensor payloads
    message msg.localization.* localization payloads
    message msg.mapping.* mapping payloads
    message msg.navigation.* navigation payloads
    message msg.perception.* perception payloads
    message msg.capability.* app-facing capability payloads
    API contract api.motion.* motion endpoint contracts
    API contract api.locomotion.* locomotion endpoint contracts
    API contract api.actuator.* actuator endpoint contracts
    API contract api.sensor.* sensor endpoint contracts
    API contract api.io.* digital and analog I/O endpoint contracts
    API contract api.localization.* localization endpoint contracts
    API contract api.mapping.* mapping endpoint contracts
    API contract api.navigation.* navigation endpoint contracts
    API contract api.perception.* perception endpoint contracts
    API contract api.capability.* backing endpoint contracts for app-facing capabilities
    capability capability.* legacy app-facing robot contracts
    component component.* component-role subsystem compatibility bundles

    Manipulator

    Manipulator support is organized as articulated motion plus manipulator-specific task-space and tooling semantics.

    API Contracts

    API Contract Meaning Typical endpoints
    api.motion.articulated.state.* observed joint-space state joint_state
    api.motion.articulated.velocity.* periodic joint-space control joint_velocity
    api.motion.articulated.trajectory.* programmed joint-space motion move_j, stop, pause, resume
    api.motion.manipulator.state.* observed tool and task-space state tool_pose, motion_state, tool_settings
    api.motion.manipulator.velocity.* periodic TCP-space control tcp_velocity
    api.motion.manipulator.cartesian.* programmed Cartesian motion move_l, move_c
    api.motion.manipulator.tooling.* tool and payload control set_tcp, set_payload
    api.motion.execution.* shared execution state and speed scaling execution_state, set_speed_scaling, get_speed_scaling
    api.motion.manipulator.cartesian.offset.* periodic Cartesian offset cartesian_offset
    api.motion.manipulator.wrench.* Cartesian wrench command and observation wrench_command, wrench_state
    api.motion.manipulator.kinematics.* forward and inverse kinematics queries forward_kinematics, inverse_kinematics
    api.motion.manipulator.hand_guiding.* hand-guiding authority and state enable_hand_guiding, disable_hand_guiding, hand_guiding_state
    api.motion.manipulator.tooling.calibration.* asynchronous tool calibration calibrate_tool

    Components

    Component Conformance API contracts
    component.manipulator.v1 articulated state, articulated velocity, articulated trajectory, manipulator state, manipulator cartesian, manipulator tooling

    Mobile Base

    For mobile robots, R2Kernel separates locomotion, localization, mapping, and navigation into distinct namespaces and component bundles.

    API Contracts

    API Contract Meaning Typical endpoints
    api.locomotion.velocity.* generic timed body-velocity control velocity_command, set_velocity_limits, get_velocity_limits, stop
    api.locomotion.velocity_reference.* Control-free body-velocity reference for applications; the component owns timed actuator dispatch set_velocity_reference, stop
    api.locomotion.mobile_base.state.* wheeled-platform state and drive authority mobile_base_state, fault_state, enable_drive, disable_drive, clear_fault
    api.locomotion.odometry.* mobile-base odometry publication odometry
    api.locomotion.diff_drive.* optional differential-drive wheel surface wheel_command, wheel_state, get_diff_drive_kinematics
    api.localization.* self-localization pose_estimate, localization status
    api.mapping.* map production and publication occupancy_map, map_state
    api.navigation.* autonomous path/goal execution navigate_to_pose, follow_path, navigation_state

    Components

    Component Conformance API contracts
    component.mobile_base.v1 locomotion velocity, mobile-base state
    component.mobile_base.localized.v1 locomotion velocity, mobile-base state, localization
    component.mobile_base.autonomous.v1 locomotion velocity, mobile-base state, localization, navigation
    component.localizer.v1 localization
    component.navigation.v1 navigation

    Gateway Domains

    Gateway subsystems expose hardware aggregation roles behind R2Kernel API contracts.

    API Contracts

    Gateway contract Meaning
    api.actuator.servo.v1 actuator servo
    api.io.digital.input.v1 digital input
    api.io.digital.output.v1 digital output set/get Procedures
    api.io.digital.timed_output.v1 periodic digital output Control with bounded validity
    api.io.analog.input.v1 analog input
    api.io.analog.output.v1 analog output
    api.sensor.camera.v1 camera sensor
    api.r2kernel.sensor.radar.source.v1 Control-only integrated rotating-radar sectors for a perception Component
    api.perception.stream.v1 perception observations and stream state
    api.diagnostics.health.v1 health observations and diagnostic queries

    Digital Output Contract Compatibility

    api.io.digital.output.v1 retains the set_digital_output and get_digital_output Procedures. Providers implementing that contract do not need to add a Control endpoint.

    Periodic output commands use the separate api.io.digital.timed_output.v1 contract. Its digital_output_command Control accepts msg.core.common.primitive.v1/IndexedBoolValue and returns msg.core.common.primitive.v1/BoolValue. Timing support and periodic refresh are required. Validity uses the runtime envelope, scheduling is gateway dispatch, and expired commands are rejected. The contract uses the existing r2kernel_sync clock domain and Control envelope timestamps.

    A gateway that supports both surfaces declares separate provided interfaces for the two contracts. Consumers select the contract matching their output semantics; the timed contract does not redefine the existing Procedure API.

    Legacy Capability Domains

    These contracts are retained for existing manifests. New applications require api.* contracts, which compounds can export from their required component bundles. See Capabilities (Legacy Compatibility).

    Capability Backing API
    capability.r2kernel.mobility.body_motion.v1 api.capability.mobility.body_motion.v1
    capability.r2kernel.manipulation.reach.v1 api.capability.manipulation.reach.v1
    capability.r2kernel.manipulation.gripper.control.v1 api.capability.manipulation.gripper.control.v1
    capability.r2kernel.perception.object_detection.v1 api.capability.perception.object_detection.v1
    capability.r2kernel.navigation.goal.v1 api.capability.navigation.goal.v1

    The current cleaner tutorial uses the standard api.r2kernel.actuation.trigger.v1 API under its platform-local trash_disposal export. It does not declare a separate tutorial capability contract.

    For the canonical definitions, see.