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.* |
app-facing robot capability 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.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 |
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 |
api.io.analog.input.v1 |
analog input |
api.io.analog.output.v1 |
analog output |
api.sensor.camera.v1 |
camera sensor |
api.perception.stream.v1 |
perception observations and stream state |
api.diagnostics.health.v1 |
health observations and diagnostic queries |
Capability Domains
Capabilities are app-facing contracts provided by compound subsystems. They are not bypasses around components; they are robot-level operations and events built from the gateway and component APIs inside the platform.
| 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 |
Trash disposal in the cleaner tutorial is package-local. It is intentionally absent from the official capability table.
Related References
For the canonical definitions, see.