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

    Spec

    Concept Meaning Repository path
    message typed payload schema spec/messages
    API contract one endpoint-level API contract for one semantic namespace spec/apis
    component compatibility bundle for component-role subsystems, composed from APIs plus explicit spatial conformance spec/components
    compound export declarative app-facing projection of one component conformance API subsystem exports
    robot manifest reusable platform declaration: parts and component/gateway slots tutorials/robot/r2kernel.robot.yaml
    application app-role subsystem requirements for exported APIs tutorials/subsystems/app.cleaner.teleop/subsystem.yaml
    • message is the data layer
    • the primitive spec families are message, API contract, and component
    • API contract means one namespace-aligned endpoint contract
    • one API contract may declare multiple Event, Control, Procedure, and Operation surfaces
    • component means a recognizable component-role subsystem contract composed from one or more API contracts
    • gateway subsystems provide api.* contracts directly because they own device boundaries for physical hardware or simulator-backed devices
    • compound subsystems declare physical/spatial composition and selected API exports without behavior endpoints
    • robot manifest composes functional gateway and component slots into one reusable platform target
    • subsystem spatial ports and compound mounts form the runtime frame graph; the robot manifest does not duplicate that topology
    • application maps a top-level app subsystem onto a robot whose compound exports satisfy the app API requirements
    • message and API contract should follow the same semantic namespace axis
    • defaults.yaml stores the default namespace-version map

    Terminology note. subsystem is the R2Kernel runtime unit. component.* is not a synonym for subsystem; it is the public compatibility namespace for component-role subsystems only. Message and API namespaces use direct semantic domains such as msg.motion.*, api.locomotion.*, and api.sensor.*. Compound exports retain the underlying api.* contract id; an alias does not create a new contract family.

    The runtime marks a contract as standard only when its canonical reference is registered in the built-in R2Kernel spec dictionary. New authority-qualified standard contracts use the api.r2kernel.* or component.r2kernel.* form. Established direct-domain IDs remain standard for compatibility until a separate versioned namespace migration replaces them. Package-local names and aliases are displayed as non-standard and do not acquire standard status from their spelling alone.

    Transport timing is runtime metadata. Event delivery exposes observation, publication, and reception times. Control delivery exposes command generation, sending, scheduling, validity, dispatch, sampling, completion, response, and lateness. These fields are not duplicated across ordinary payload messages.