Message Index
This page is generated from spec/messages. Message schemas contain payload data only. Runtime transport and timing metadata belong to the Event or Control envelope.
| Namespace | Description | Messages |
|---|---|---|
msg.actuator.drive.v1 |
Low-level drive command and state payloads for gateway contracts. | 2 |
msg.actuator.servo.v1 |
Low-level servo and actuation payload message set for controller-to-drive links. | 3 |
msg.capability.common.v1 |
Shared payloads for app-facing capability contracts. | 2 |
msg.capability.manipulation.v1 |
App-facing manipulation capability payloads independent of arm and gripper topology. | 3 |
msg.capability.mobility.v1 |
App-facing mobility capability payloads independent of drive topology and vendor implementation. | 3 |
msg.capability.operation.v1 |
Shared payloads for supervising long-running platform capabilities. | 2 |
msg.capability.perception.v1 |
App-facing perception capability query payloads. | 2 |
msg.core.common.primitive.v1 |
Canonical common wrapper and utility message set for primitive payloads and empty bodies. | 18 |
msg.core.diagnostics.v1 |
Canonical diagnostics message set shared by language-native logging implementations. | 1 |
msg.core.frame.v1 |
Frame identities and rigid transforms used by the R2Kernel runtime frame graph. | 2 |
msg.core.kinematics.v1 |
Canonical kinematics message set for robot-family-agnostic motion representations. | 8 |
msg.core.linalg.v1 |
Dense linear algebra containers used by controller and kinematics API contracts. | 1 |
msg.core.spatial.v1 |
Canonical shared spatial message set for base math types, semantic physical quantities, and rigid-body spatial quantities used across robotics domains. | 11 |
msg.diagnostics.health.v1 |
Provider-owned health and fault payloads. | 2 |
msg.localization.v1 |
Localization payload family for self-pose estimation status. | 2 |
msg.locomotion.legged.v1 |
Legged locomotion payloads shared by quadruped and humanoid systems. | 10 |
msg.locomotion.mobile_base.v1 |
Canonical wheeled mobile-base payload family for platform state, odometry, safety state, and optional differential-drive helpers. | 10 |
msg.locomotion.velocity.v1 |
Canonical shared locomotion body-velocity payload family for timed control, acknowledgements, limits, and stop requests. | 4 |
msg.mapping.v1 |
Mapping payload family for occupancy-style map publication. | 2 |
msg.motion.articulated.v1 |
Articulated-motion payloads shared by jointed mechanisms. | 4 |
msg.motion.execution.v1 |
Programmed-motion execution state and speed-scaling payloads. | 2 |
msg.motion.manipulator.v1 |
Canonical manipulator motion payloads built on shared articulated, spatial, and kinematic foundations. | 20 |
msg.navigation.v1 |
Navigation payload family for goal-based autonomous motion. | 6 |
msg.perception.v1 |
Perception payload family for object detection, pose estimation, and grasp planning outputs. | 7 |
msg.sensor.camera.v1 |
Camera-sensor payload family for RGB/depth frame delivery and calibration metadata. | 4 |
msg.actuator.drive.v1
Low-level drive command and state payloads for gateway contracts.
DriveCommand
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
channels |
vector<uint32> |
yes | - |
mode |
vector<uint8> |
yes | - |
target |
vector<float64> |
yes | - |
feedforward |
vector<float64> |
no | - |
DriveState
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
channels |
vector<uint32> |
yes | - |
position |
vector<float64> |
yes | - |
velocity |
vector<float64> |
yes | - |
effort |
vector<float64> |
no | - |
enabled |
vector<bool> |
yes | - |
fault_code |
vector<uint32> |
no | - |
msg.actuator.servo.v1
Low-level servo and actuation payload message set for controller-to-drive links.
Imports: msg.core.kinematics.v1, msg.core.linalg.v1.
JointServoCommand
Low-level joint-space servo command for actuation-oriented control paths.
| Field | Type | Required | Description |
|---|---|---|---|
joint |
msg.core.kinematics/JointValues |
yes | - |
duration |
float32 |
yes | - |
ActuatorCommand
Low-level actuator command for deterministic servo links. Execution time and validity are carried by the control envelope.
| Field | Type | Required | Description |
|---|---|---|---|
emergency |
bool |
yes | True when the command is an emergency or protective-stop command. |
servo_cmd |
uint8 |
yes | Controller-defined servo command code such as enable, disable, or fault reset. |
drive_mode |
vector<uint8> |
yes | Per-axis drive mode values. |
target |
msg.core.kinematics/JointCommandPrecise |
yes | - |
stiffness |
msg.core.linalg/DenseMatrix |
no | - |
damping |
msg.core.linalg/DenseMatrix |
no | - |
ActuatorState
Low-level actuator state frame returned by a servo link.
| Field | Type | Required | Description |
|---|---|---|---|
link_alive |
bool |
yes | - |
servo_on |
bool |
yes | - |
state |
msg.core.kinematics/JointStatePrecise |
yes | - |
error_code |
vector<uint8> |
no | - |
error_raw |
vector<uint16> |
no | - |
msg.capability.common.v1
Shared payloads for app-facing capability contracts.
Result
Terminal result of a capability procedure or operation.
| Field | Type | Required | Description |
|---|---|---|---|
success |
bool |
yes | - |
status |
string |
yes | - |
detail |
bytes |
no | - |
Status
Provider-owned capability state suitable for app subscription.
| Field | Type | Required | Description |
|---|---|---|---|
state |
string |
yes | - |
available |
bool |
yes | - |
detail |
bytes |
no | - |
msg.capability.manipulation.v1
App-facing manipulation capability payloads independent of arm and gripper topology.
ReachRequest
Request a platform-defined normalized reach or retraction.
| Field | Type | Required | Description |
|---|---|---|---|
extension |
float32 |
no | - |
ReachState
Current normalized reach state.
| Field | Type | Required | Description |
|---|---|---|---|
extension |
float32 |
yes | - |
moving |
bool |
yes | - |
state |
string |
yes | - |
GripperState
Platform-level gripper state.
| Field | Type | Required | Description |
|---|---|---|---|
state |
string |
yes | - |
holding |
bool |
no | - |
object_id |
string |
no | - |
msg.capability.mobility.v1
App-facing mobility capability payloads independent of drive topology and vendor implementation.
Imports: msg.core.spatial.v1.
BodyMotionCommand
Bounded body-relative motion command. Timing and validity are carried by the control envelope.
| Field | Type | Required | Description |
|---|---|---|---|
twist |
msg.core.spatial/Twist |
yes | - |
source |
string |
no | - |
BodyMotionState
Platform-reported body-motion state.
| Field | Type | Required | Description |
|---|---|---|---|
applied_twist |
msg.core.spatial/Twist |
yes | - |
enabled |
bool |
yes | - |
limited |
bool |
no | - |
reason |
string |
no | - |
StopRequest
Request a controlled platform stop.
| Field | Type | Required | Description |
|---|---|---|---|
mode |
string |
no | - |
msg.capability.operation.v1
Shared payloads for supervising long-running platform capabilities.
OperationQuery
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
operation_id |
string |
yes | - |
OperationStatus
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
operation_id |
string |
yes | - |
state |
string |
yes | - |
progress |
float32 |
no | - |
detail |
bytes |
no | - |
msg.capability.perception.v1
App-facing perception capability query payloads.
ObjectQuery
Semantic object query bounded by class and range.
| Field | Type | Required | Description |
|---|---|---|---|
class_id |
string |
no | - |
max_range_m |
float32 |
no | - |
max_results |
uint32 |
no | - |
DetectionSummary
Serialized semantic detections returned to an application.
| Field | Type | Required | Description |
|---|---|---|---|
detections |
bytes |
yes | - |
count |
uint32 |
yes | - |
source_frame_id |
string |
yes | - |
msg.core.common.primitive.v1
Canonical common wrapper and utility message set for primitive payloads and empty bodies.
Empty
Explicit empty payload used instead of raw null or omitted bodies.
This message has no payload fields.
BoolValue
Canonical wrapped boolean payload.
| Field | Type | Required | Description |
|---|---|---|---|
value |
bool |
yes | - |
Int32Value
Canonical wrapped int32 payload.
| Field | Type | Required | Description |
|---|---|---|---|
value |
int32 |
yes | - |
UInt32Value
Canonical wrapped uint32 payload.
| Field | Type | Required | Description |
|---|---|---|---|
value |
uint32 |
yes | - |
UInt32Vector
Canonical wrapped uint32 vector payload.
| Field | Type | Required | Description |
|---|---|---|---|
values |
vector<uint32> |
yes | - |
Int64Value
Canonical wrapped int64 payload.
| Field | Type | Required | Description |
|---|---|---|---|
value |
int64 |
yes | - |
Float32Value
Canonical wrapped float32 payload.
| Field | Type | Required | Description |
|---|---|---|---|
value |
float32 |
yes | - |
Float32Vector
Canonical wrapped float32 vector payload.
| Field | Type | Required | Description |
|---|---|---|---|
values |
vector<float32> |
yes | - |
Float64Value
Canonical wrapped float64 payload.
| Field | Type | Required | Description |
|---|---|---|---|
value |
float64 |
yes | - |
BoolVector
Canonical wrapped boolean vector payload.
| Field | Type | Required | Description |
|---|---|---|---|
values |
vector<bool> |
yes | - |
StringValue
Canonical wrapped string payload.
| Field | Type | Required | Description |
|---|---|---|---|
value |
string |
yes | - |
BytesValue
Canonical wrapped bytes payload.
| Field | Type | Required | Description |
|---|---|---|---|
value |
bytes |
yes | - |
TimestampNs
Nanosecond timestamp wrapper used when a named scalar time payload is needed.
| Field | Type | Required | Description |
|---|---|---|---|
value |
int64 |
yes | - |
DurationNs
Nanosecond duration wrapper used when a named scalar duration payload is needed.
| Field | Type | Required | Description |
|---|---|---|---|
value |
int64 |
yes | - |
IndexedBoolValue
Generic indexed boolean payload used by channel-addressed interfaces such as digital IO.
| Field | Type | Required | Description |
|---|---|---|---|
index |
uint32 |
yes | - |
value |
bool |
yes | - |
IndexedFloat32Value
Generic indexed float32 payload used by channel-addressed interfaces such as analog IO.
| Field | Type | Required | Description |
|---|---|---|---|
index |
uint32 |
yes | - |
value |
float32 |
yes | - |
IndexedBoolVector
Generic indexed boolean vector payload for batched channel-addressed updates.
| Field | Type | Required | Description |
|---|---|---|---|
indices |
vector<uint32> |
yes | - |
values |
vector<bool> |
yes | - |
IndexedFloat32Vector
Generic indexed float32 vector payload for batched channel-addressed updates.
| Field | Type | Required | Description |
|---|---|---|---|
indices |
vector<uint32> |
yes | - |
values |
vector<float32> |
yes | - |
msg.core.diagnostics.v1
Canonical diagnostics message set shared by language-native logging implementations.
LogRecord
Structured log record for optional R2Kernel log event publishing and remote diagnostics.
| Field | Type | Required | Description |
|---|---|---|---|
timestamp_ns |
int64 |
yes | - |
level |
string |
yes | - |
subsystem |
string |
yes | - |
tag |
string |
no | - |
message |
string |
yes | - |
source_file |
string |
no | - |
line |
int32 |
no | - |
thread_id |
string |
no | - |
trace_id |
string |
no | - |
msg.core.frame.v1
Frame identities and rigid transforms used by the R2Kernel runtime frame graph.
Imports: msg.core.spatial.v1.
FrameTransform
Rigid transform from a parent frame to a child frame at the packet observation time.
| Field | Type | Required | Description |
|---|---|---|---|
parent_frame_id |
string |
yes | - |
child_frame_id |
string |
yes | - |
pose |
msg.core.spatial/Pose |
yes | - |
static |
bool |
yes | True when the transform is invariant for the current subsystem session. |
stale_after_ms |
uint32 |
no | Maximum accepted age for a dynamic transform before the runtime marks it stale. |
FrameTransformBatch
Atomic set of transforms observed at the same packet observation time.
| Field | Type | Required | Description |
|---|---|---|---|
transforms |
sequence<FrameTransform> |
yes | - |
msg.core.kinematics.v1
Canonical kinematics message set for robot-family-agnostic motion representations.
Imports: msg.core.spatial.v1.
JointValues
Generic joint vector for an articulated chain.
| Field | Type | Required | Description |
|---|---|---|---|
names |
vector<string> |
no | - |
values |
vector<float32> |
yes | - |
JointLimits
Limit values for a single articulated joint.
| Field | Type | Required | Description |
|---|---|---|---|
name |
string |
yes | - |
min_position |
float32 |
yes | - |
max_position |
float32 |
yes | - |
max_velocity |
float32 |
yes | - |
max_acceleration |
float32 |
yes | - |
max_effort |
float32 |
yes | - |
JointState
Measured joint state for an articulated chain.
| Field | Type | Required | Description |
|---|---|---|---|
names |
vector<string> |
no | - |
position |
vector<float32> |
yes | - |
velocity |
vector<float32> |
no | - |
effort |
vector<float32> |
no | - |
JointVelocity
Joint-space velocity command for an articulated chain.
| Field | Type | Required | Description |
|---|---|---|---|
names |
vector<string> |
no | - |
values |
vector<float32> |
yes | - |
JointCommand
Commanded joint targets for an articulated chain.
| Field | Type | Required | Description |
|---|---|---|---|
names |
vector<string> |
no | - |
target_position |
vector<float32> |
no | - |
target_velocity |
vector<float32> |
no | - |
target_effort |
vector<float32> |
no | - |
JointStatePrecise
Double-precision measured joint state for servo and high-rate controller links.
| Field | Type | Required | Description |
|---|---|---|---|
names |
vector<string> |
no | - |
position |
vector<float64> |
yes | - |
velocity |
vector<float64> |
no | - |
effort |
vector<float64> |
no | - |
JointCommandPrecise
Double-precision commanded joint targets for servo and high-rate controller links.
| Field | Type | Required | Description |
|---|---|---|---|
names |
vector<string> |
no | - |
target_position |
vector<float64> |
no | - |
target_velocity |
vector<float64> |
no | - |
target_effort |
vector<float64> |
no | - |
KinematicChainState
Combined articulated-chain state with task-space pose and twist.
| Field | Type | Required | Description |
|---|---|---|---|
chain_id |
string |
yes | - |
joint_state |
JointState |
yes | - |
tip_pose |
msg.core.spatial/Pose |
no | - |
tip_twist |
msg.core.spatial/Twist |
no | - |
msg.core.linalg.v1
Dense linear algebra containers used by controller and kinematics API contracts.
DenseMatrix
Row-major dense matrix with double-precision values.
| Field | Type | Required | Description |
|---|---|---|---|
rows |
uint32 |
yes | - |
cols |
uint32 |
yes | - |
values |
vector<float64> |
yes | - |
msg.core.spatial.v1
Canonical shared spatial message set for base math types, semantic physical quantities, and rigid-body spatial quantities used across robotics domains.
Vector3
Generic free 3-axis vector used when the surrounding type carries the semantics of the quantity.
| Field | Type | Required | Description |
|---|---|---|---|
x |
float32 |
yes | - |
y |
float32 |
yes | - |
z |
float32 |
yes | - |
Quaternion
Quaternion orientation expressed as x, y, z, w.
| Field | Type | Required | Description |
|---|---|---|---|
x |
float32 |
yes | - |
y |
float32 |
yes | - |
z |
float32 |
yes | - |
w |
float32 |
yes | - |
Position
3D position point in meters, kept separate from Vector3 because it represents a location rather than a free vector.
| Field | Type | Required | Description |
|---|---|---|---|
x |
float32 |
yes | - |
y |
float32 |
yes | - |
z |
float32 |
yes | - |
Pose
Pure rigid pose value. The owning message or API contract declares the frame in which it is expressed.
| Field | Type | Required | Description |
|---|---|---|---|
position |
Position |
yes | Position point of the pose origin. |
orientation |
Quaternion |
yes | Quaternion orientation of the pose. |
Covariance6x6
Fixed 6x6 covariance matrix container for spatial estimates.
| Field | Type | Required | Description |
|---|---|---|---|
values |
array<float32, 36> |
yes | Row-major covariance entries. The owning message defines the state ordering associated with the six dimensions. |
Force
3-axis linear force. Field names stay x, y, z because the surrounding type already carries the physical meaning.
| Field | Type | Required | Description |
|---|---|---|---|
x |
float32 |
yes | - |
y |
float32 |
yes | - |
z |
float32 |
yes | - |
Torque
3-axis torque (moment) vector. Field names stay x, y, z; angular meaning comes from the surrounding type rather than rx, ry, rz naming.
| Field | Type | Required | Description |
|---|---|---|---|
x |
float32 |
yes | - |
y |
float32 |
yes | - |
z |
float32 |
yes | - |
Wrench
Pure rigid-body wrench value. The owning message or API contract declares its expression frame.
| Field | Type | Required | Description |
|---|---|---|---|
force |
Force |
yes | Linear force component. |
torque |
Torque |
yes | Torque component about the same frame axes. |
Twist
Pure rigid-body spatial velocity. The owning message or API contract declares its expression frame.
| Field | Type | Required | Description |
|---|---|---|---|
linear |
Vector3 |
yes | Linear velocity of the chosen reference point. |
angular |
Vector3 |
yes | Angular velocity of the same rigid body. |
Accel
Pure rigid-body spatial acceleration. The owning message or API contract declares its expression frame.
| Field | Type | Required | Description |
|---|---|---|---|
linear |
Vector3 |
yes | Linear acceleration component. |
angular |
Vector3 |
yes | Angular acceleration component. |
Inertia
Symmetric inertia tensor components about a common reference.
| Field | Type | Required | Description |
|---|---|---|---|
ixx |
float32 |
yes | - |
iyy |
float32 |
yes | - |
izz |
float32 |
yes | - |
ixy |
float32 |
yes | - |
ixz |
float32 |
yes | - |
iyz |
float32 |
yes | - |
msg.diagnostics.health.v1
Provider-owned health and fault payloads.
HealthStatus
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
state |
string |
yes | - |
summary |
string |
yes | - |
fault_codes |
vector<uint32> |
no | - |
detail |
bytes |
no | - |
ClearFaultRequest
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
fault_code |
uint32 |
no | - |
msg.localization.v1
Localization payload family for self-pose estimation status.
Imports: msg.core.spatial.v1.
PoseEstimate
Estimated robot pose with spatial uncertainty.
| Field | Type | Required | Description |
|---|---|---|---|
frame_id |
string |
yes | Reference frame in which the estimated pose is expressed. |
pose |
msg.core.spatial/Pose |
yes | Mean self-pose estimate. |
covariance |
msg.core.spatial/Covariance6x6 |
yes | Pose covariance expressed in the ordering defined by the consuming localization API contract. |
quality |
float32 |
no | Optional normalized quality score from the estimator. |
source |
string |
no | Optional estimator or source identifier. |
LocalizationStatus
Summary state for a localization subsystem.
| Field | Type | Required | Description |
|---|---|---|---|
state |
string |
yes | - |
quality |
float32 |
no | - |
map_id |
string |
no | - |
msg.locomotion.legged.v1
Legged locomotion payloads shared by quadruped and humanoid systems.
Imports: msg.core.spatial.v1.
ContactState
Contact state for a single support/contact point.
| Field | Type | Required | Description |
|---|---|---|---|
contact_id |
string |
yes | - |
active |
bool |
yes | - |
contact_force |
msg.core.spatial/Force |
no | - |
contact_pose |
msg.core.spatial/Pose |
no | - |
ContactArray
Aggregated contact state payload for a locomotion system.
| Field | Type | Required | Description |
|---|---|---|---|
states |
vector<ContactState> |
yes | - |
FootPose
Named foothold or end-effector pose used by locomotion controllers.
| Field | Type | Required | Description |
|---|---|---|---|
foot_id |
string |
yes | - |
pose |
msg.core.spatial/Pose |
yes | - |
FootState
State for a locomotion contact point or foot endpoint.
| Field | Type | Required | Description |
|---|---|---|---|
foot_id |
string |
yes | - |
pose |
msg.core.spatial/Pose |
yes | - |
in_contact |
bool |
yes | - |
contact_force |
msg.core.spatial/Force |
no | - |
SupportPolygon
Support polygon expressed as planar points in body or world coordinates.
| Field | Type | Required | Description |
|---|---|---|---|
frame_id |
string |
yes | - |
vertices |
vector<msg.core.spatial/Position> |
yes | - |
StepTarget
Next planned foothold target for a locomotion contact point.
| Field | Type | Required | Description |
|---|---|---|---|
foot_id |
string |
yes | - |
target_pose |
msg.core.spatial/Pose |
yes | - |
swing_duration |
float32 |
yes | - |
BodyState
Locomotion body state independent of concrete robot morphology.
| Field | Type | Required | Description |
|---|---|---|---|
body_pose |
msg.core.spatial/Pose |
yes | - |
body_twist |
msg.core.spatial/Twist |
no | - |
CenterOfMassState
Center-of-mass state for balance and locomotion control.
| Field | Type | Required | Description |
|---|---|---|---|
position |
msg.core.spatial/Position |
yes | - |
velocity |
msg.core.spatial/Vector3 |
no | - |
acceleration |
msg.core.spatial/Vector3 |
no | - |
BalanceState
High-level balance indicators shared by legged systems.
| Field | Type | Required | Description |
|---|---|---|---|
stable |
bool |
yes | - |
support_polygon |
SupportPolygon |
no | - |
center_of_mass |
CenterOfMassState |
no | - |
GaitPhase
Named gait phase for locomotion sequencing.
| Field | Type | Required | Description |
|---|---|---|---|
phase_name |
string |
yes | - |
phase_progress |
float32 |
yes | - |
active_contacts |
vector<string> |
yes | - |
msg.locomotion.mobile_base.v1
Canonical wheeled mobile-base payload family for platform state, odometry, safety state, and optional differential-drive helpers.
Imports: msg.core.spatial.v1.
ControllerModeState
Active operating mode of a wheeled mobile-base controller.
| Field | Type | Required | Description |
|---|---|---|---|
value |
string |
yes | Canonical values are disabled, hold, active, fault, and stopping. |
MobileBaseState
Runtime state of a mobile-base controller.
| Field | Type | Required | Description |
|---|---|---|---|
drive_enabled |
bool |
yes | - |
fault_active |
bool |
yes | - |
mode |
ControllerModeState |
yes | - |
command_age_ms |
uint32 |
no | - |
applied_twist |
msg.core.spatial/Twist |
no | - |
FaultState
Fault summary for a mobile-base controller.
| Field | Type | Required | Description |
|---|---|---|---|
fault_active |
bool |
yes | - |
fault_code |
string |
no | - |
fault_text |
string |
no | - |
Odometry
Estimated body pose and twist for a wheeled platform.
| Field | Type | Required | Description |
|---|---|---|---|
frame_id |
string |
no | Parent odometry frame. Defaults to odom when omitted. |
child_frame_id |
string |
no | Child base frame. Defaults to base_link when omitted. |
pose |
msg.core.spatial/Pose |
yes | - |
twist |
msg.core.spatial/Twist |
no | - |
EnableDriveRequest
Request to enable or keep disabled the mobile-base drive.
| Field | Type | Required | Description |
|---|---|---|---|
enable |
bool |
yes | - |
reason |
string |
no | - |
DisableDriveRequest
Request to disable mobile-base drive output.
| Field | Type | Required | Description |
|---|---|---|---|
reason |
string |
no | - |
ClearFaultRequest
Request to clear a latched mobile-base fault.
| Field | Type | Required | Description |
|---|---|---|---|
fault_code |
string |
no | - |
DiffDriveKinematics
Differential-drive geometric and wheel-speed limits.
| Field | Type | Required | Description |
|---|---|---|---|
wheel_radius_m |
float32 |
yes | - |
track_width_m |
float32 |
yes | - |
max_wheel_radps |
float32 |
no | - |
WheelCommand
Differential-drive wheel velocity command.
| Field | Type | Required | Description |
|---|---|---|---|
left_radps |
float32 |
yes | - |
right_radps |
float32 |
yes | - |
WheelState
Differential-drive wheel position and velocity state.
| Field | Type | Required | Description |
|---|---|---|---|
left_position_rad |
float32 |
yes | - |
right_position_rad |
float32 |
yes | - |
left_velocity_radps |
float32 |
yes | - |
right_velocity_radps |
float32 |
yes | - |
msg.locomotion.velocity.v1
Canonical shared locomotion body-velocity payload family for timed control, acknowledgements, limits, and stop requests.
Imports: msg.core.spatial.v1.
VelocityCommand
Body-velocity command payload. Command frame, execution time, and validity are defined by the API and control envelope.
| Field | Type | Required | Description |
|---|---|---|---|
twist |
msg.core.spatial/Twist |
yes | Body twist command in the controller's declared command frame. |
source |
string |
no | Optional command source identifier. |
sequence |
int64 |
no | Optional source-local monotonically increasing sequence. |
CommandAck
Domain acknowledgement for locomotion requests. Runtime execution timing is reported by the response envelope.
| Field | Type | Required | Description |
|---|---|---|---|
accepted |
bool |
yes | - |
reason |
string |
yes | - |
applied_twist |
msg.core.spatial/Twist |
no | Applied or clamped twist. |
deadline_missed |
bool |
no | - |
VelocityLimits
Runtime velocity and acceleration limits for locomotion velocity control.
| Field | Type | Required | Description |
|---|---|---|---|
max_linear_x_mps |
float32 |
yes | - |
max_linear_y_mps |
float32 |
no | - |
max_linear_z_mps |
float32 |
no | - |
max_angular_x_radps |
float32 |
no | - |
max_angular_y_radps |
float32 |
no | - |
max_angular_z_radps |
float32 |
yes | - |
max_linear_accel_mps2 |
float32 |
no | - |
max_angular_accel_radps2 |
float32 |
no | - |
StopRequest
Controlled stop request for a locomotion controller.
| Field | Type | Required | Description |
|---|---|---|---|
ramp_time_ns |
int64 |
no | - |
msg.mapping.v1
Mapping payload family for occupancy-style map publication.
Imports: msg.core.spatial.v1.
OccupancyGridMap
Occupancy-grid style map payload for mapping publication.
| Field | Type | Required | Description |
|---|---|---|---|
map_id |
string |
yes | - |
frame_id |
string |
yes | - |
resolution |
float32 |
yes | - |
width |
uint32 |
yes | - |
height |
uint32 |
yes | - |
origin |
msg.core.spatial/Pose |
yes | - |
data |
bytes |
yes | - |
MapStatus
Summary status for a mapping subsystem.
| Field | Type | Required | Description |
|---|---|---|---|
map_id |
string |
yes | - |
state |
string |
yes | - |
msg.motion.articulated.v1
Articulated-motion payloads shared by jointed mechanisms.
Imports: msg.core.kinematics.v1.
JointWayPoint
Joint-space waypoint and motion tuning values for articulated motion.
| Field | Type | Required | Description |
|---|---|---|---|
q |
msg.core.kinematics/JointValues |
yes | - |
radius |
float32 |
yes | - |
vel |
float32 |
yes | - |
cornering_vel |
float32 |
yes | - |
acc |
float32 |
yes | - |
RampRequest
Optional ramp duration for a stop or pause transition.
| Field | Type | Required | Description |
|---|---|---|---|
ramp_time_ns |
int64 |
no | - |
MoveJRequest
Joint-space programmed-motion request.
| Field | Type | Required | Description |
|---|---|---|---|
waypoints |
vector<JointWayPoint> |
yes | - |
finish_mode |
string |
no | - |
TrajectoryOffset
Joint-space offset applied to an active programmed trajectory.
| Field | Type | Required | Description |
|---|---|---|---|
offset |
msg.core.kinematics/JointValues |
yes | - |
mode |
string |
no | - |
msg.motion.execution.v1
Programmed-motion execution state and speed-scaling payloads.
ExecutionState
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
state |
string |
yes | - |
active_operation_id |
string |
no | - |
progress |
float32 |
no | - |
speed_scaling |
float32 |
yes | - |
reason |
string |
no | - |
SpeedScaling
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
value |
float32 |
yes | - |
msg.motion.manipulator.v1
Canonical manipulator motion payloads built on shared articulated, spatial, and kinematic foundations.
Imports: msg.core.kinematics.v1, msg.core.spatial.v1.
TCP
Tool center point definition.
| Field | Type | Required | Description |
|---|---|---|---|
pose |
msg.core.spatial/Pose |
yes | - |
Payload
Tool payload definition.
| Field | Type | Required | Description |
|---|---|---|---|
mass |
float32 |
yes | - |
center_of_mass |
msg.core.spatial/Position |
yes | - |
inertia |
msg.core.spatial/Inertia |
yes | - |
TaskWayPoint
Cartesian waypoint and motion tuning values for tool- or TCP-oriented manipulation.
| Field | Type | Required | Description |
|---|---|---|---|
pose |
msg.core.spatial/Pose |
yes | - |
radius |
float32 |
yes | - |
vel |
float32 |
yes | - |
cornering_vel |
float32 |
yes | - |
acc |
float32 |
yes | - |
ToolSettings
Combined payload and TCP tool definition.
| Field | Type | Required | Description |
|---|---|---|---|
payload |
Payload |
yes | - |
tcp |
TCP |
yes | - |
MotionFeedback
Generic feedback state for long-running manipulator motion.
| Field | Type | Required | Description |
|---|---|---|---|
state |
string |
yes | - |
progress |
float32 |
no | - |
MotionState
Current manipulator motion state for state publication and action state reporting.
| Field | Type | Required | Description |
|---|---|---|---|
value |
string |
yes | - |
progress |
float32 |
no | - |
MotionResult
Generic result body for manipulator motion completion.
| Field | Type | Required | Description |
|---|---|---|---|
completed |
bool |
yes | - |
detail |
string |
no | - |
InverseKinematicsResult
Result body for inverse-kinematics queries.
| Field | Type | Required | Description |
|---|---|---|---|
valid |
bool |
yes | - |
joints |
msg.core.kinematics/JointValues |
yes | - |
detail |
string |
no | - |
MoveLRequest
Linear Cartesian programmed-motion request.
| Field | Type | Required | Description |
|---|---|---|---|
waypoints |
vector<TaskWayPoint> |
yes | - |
finish_mode |
string |
no | - |
MoveCRequest
Circular Cartesian programmed-motion request.
| Field | Type | Required | Description |
|---|---|---|---|
via_point |
TaskWayPoint |
yes | - |
target_point |
TaskWayPoint |
yes | - |
finish_mode |
string |
no | - |
SetTcpRequest
Tool center point update request.
| Field | Type | Required | Description |
|---|---|---|---|
tcp |
TCP |
yes | - |
SetPayloadRequest
Tool payload update request.
| Field | Type | Required | Description |
|---|---|---|---|
payload |
Payload |
yes | - |
transition_time_ns |
int64 |
no | - |
CartesianOffset
Cartesian offset applied to active manipulator motion.
| Field | Type | Required | Description |
|---|---|---|---|
frame_id |
string |
yes | - |
offset |
msg.core.spatial/Pose |
yes | - |
WrenchCommand
Cartesian wrench target expressed in the declared frame.
| Field | Type | Required | Description |
|---|---|---|---|
frame_id |
string |
yes | - |
wrench |
msg.core.spatial/Wrench |
yes | - |
ToolCalibrationRequest
Request provider-owned TCP or payload calibration.
| Field | Type | Required | Description |
|---|---|---|---|
mode |
string |
yes | - |
samples |
uint32 |
no | - |
ToolCalibrationResult
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
valid |
bool |
yes | - |
settings |
ToolSettings |
no | - |
detail |
string |
no | - |
ForwardKinematicsRequest
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
joints |
msg.core.kinematics/JointValues |
yes | - |
ForwardKinematicsResult
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
valid |
bool |
yes | - |
pose |
msg.core.spatial/Pose |
yes | - |
frame_id |
string |
yes | - |
InverseKinematicsRequest
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
target_pose |
msg.core.spatial/Pose |
yes | - |
frame_id |
string |
yes | - |
seed |
msg.core.kinematics/JointValues |
no | - |
HandGuidingState
No message description.
| Field | Type | Required | Description |
|---|---|---|---|
enabled |
bool |
yes | - |
mode |
string |
no | - |
msg.navigation.v1
Navigation payload family for goal-based autonomous motion.
Imports: msg.core.spatial.v1.
NavigationPath
Ordered path as a sequence of target poses.
| Field | Type | Required | Description |
|---|---|---|---|
frame_id |
string |
yes | Common reference frame for all waypoints. |
waypoints |
vector<msg.core.spatial/Pose> |
yes | - |
NavigateToPoseRequest
Goal request for autonomous navigation to a single pose.
| Field | Type | Required | Description |
|---|---|---|---|
frame_id |
string |
yes | Reference frame for target_pose. |
target_pose |
msg.core.spatial/Pose |
yes | - |
behavior_id |
string |
no | - |
FollowPathRequest
Goal request for following an explicit path.
| Field | Type | Required | Description |
|---|---|---|---|
path |
NavigationPath |
yes | - |
controller_id |
string |
no | - |
NavigationFeedback
Progress feedback for a running navigation task.
| Field | Type | Required | Description |
|---|---|---|---|
state |
string |
yes | - |
remaining_distance |
float32 |
no | - |
NavigationResult
Result body for a completed navigation task.
| Field | Type | Required | Description |
|---|---|---|---|
completed |
bool |
yes | - |
detail |
string |
no | - |
NavigationState
Summary state for a navigation subsystem or running goal.
| Field | Type | Required | Description |
|---|---|---|---|
state |
string |
yes | - |
active_goal_id |
string |
no | - |
msg.perception.v1
Perception payload family for object detection, pose estimation, and grasp planning outputs.
Imports: msg.core.spatial.v1.
BoundingBox2D
Image-plane bounding box for a 2D detection.
| Field | Type | Required | Description |
|---|---|---|---|
x |
float32 |
yes | - |
y |
float32 |
yes | - |
width |
float32 |
yes | - |
height |
float32 |
yes | - |
Detection2D
Single 2D detection result from a perception subsystem.
| Field | Type | Required | Description |
|---|---|---|---|
class_id |
string |
yes | - |
score |
float32 |
yes | - |
bbox |
BoundingBox2D |
yes | - |
tracking_id |
string |
no | - |
Detection2DArray
Collection of 2D detections for one frame.
| Field | Type | Required | Description |
|---|---|---|---|
source_frame_id |
string |
yes | - |
detections |
vector<Detection2D> |
yes | - |
ObjectPose
Estimated object pose in a named frame.
| Field | Type | Required | Description |
|---|---|---|---|
class_id |
string |
yes | - |
score |
float32 |
yes | - |
frame_id |
string |
yes | - |
pose |
msg.core.spatial/Pose |
yes | - |
covariance |
msg.core.spatial/Covariance6x6 |
no | Optional pose covariance when the perception subsystem can estimate uncertainty. |
tracking_id |
string |
no | - |
ObjectPoseArray
Collection of object-pose estimates for one observation step.
| Field | Type | Required | Description |
|---|---|---|---|
objects |
vector<ObjectPose> |
yes | - |
GraspCandidate
Candidate grasp pose estimated from perception output.
| Field | Type | Required | Description |
|---|---|---|---|
frame_id |
string |
yes | - |
grasp_pose |
msg.core.spatial/Pose |
yes | - |
score |
float32 |
yes | - |
opening_width |
float32 |
no | - |
object_id |
string |
no | - |
GraspCandidateArray
Ranked grasp candidates for a target object or scene.
| Field | Type | Required | Description |
|---|---|---|---|
candidates |
vector<GraspCandidate> |
yes | - |
msg.sensor.camera.v1
Camera-sensor payload family for RGB/depth frame delivery and calibration metadata.
CameraIntrinsics
Pinhole-style intrinsic calibration parameters for a camera stream.
| Field | Type | Required | Description |
|---|---|---|---|
width |
uint32 |
yes | - |
height |
uint32 |
yes | - |
fx |
float32 |
yes | - |
fy |
float32 |
yes | - |
cx |
float32 |
yes | - |
cy |
float32 |
yes | - |
distortion_model |
string |
no | - |
distortion_coefficients |
vector<float32> |
no | - |
CameraInfo
Camera stream metadata and intrinsic calibration.
| Field | Type | Required | Description |
|---|---|---|---|
frame_id |
string |
yes | - |
intrinsics |
CameraIntrinsics |
yes | - |
ImageFrame
Generic image frame payload for camera-based observation streams.
| Field | Type | Required | Description |
|---|---|---|---|
frame_id |
string |
yes | - |
width |
uint32 |
yes | - |
height |
uint32 |
yes | - |
encoding |
string |
yes | - |
step_bytes |
uint32 |
yes | - |
data |
bytes |
yes | - |
DepthFrame
Depth image frame with explicit meter-per-unit scaling.
| Field | Type | Required | Description |
|---|---|---|---|
frame_id |
string |
yes | - |
width |
uint32 |
yes | - |
height |
uint32 |
yes | - |
encoding |
string |
yes | - |
step_bytes |
uint32 |
yes | - |
depth_unit_m |
float32 |
yes | - |
data |
bytes |
yes | - |