List of ROS Actions#

This page lists all the ROS actions exposed by the SDK 23.1.

Caution

Only the actions contributing to the public API of the pal-sdk-23.1 are listed here.

Additional ROS actions might be present on the robot, for internal purposes. They are however not part of the documented and supported robot API.

By capability#

/pal_led_manager/do_effect (documentation) Performs LED effects. You can select the desired device, the LED effect, duration and priority, as well as provide effect-specific parameters (like the desired color).

/go_and_dock (documentation) Sends the robot to the Dokstation POI and once reached it starts the docking manouver
/move_base (documentation) Implements the Point to Point Navigation. You can select a Goal in the map and the robot will start moving to reach the desired goal while avoiding obstacles
/pal_image_navigation_node/image_goal (documentation)
/pal_image_navigation_node/image_look (documentation)
/undocker_server (documentation) Performs an undocking manouver of the robot

/manage_chatbot (documentation) Starts the respective RASA language model given a language goal input, as long as it has not already been loaded.

See Dialogue management for details.
/train_chatbot (documentation) Trains the specified chatbot.

Note that the goal lang must exist either in ~/.pal/chatbot_cfg/rasa_chatbot_chitchat or /opt/pal/gallium/share/rasa_chatbot_chitchat directories.

See Dialogue management for details.
/get_user_input (documentation)
/speech_multi_recognizer (documentation)
/tts (documentation)
/start_asr (documentation) Start the automatic speech recognition
/stop_asr (documentation) Stops the automatic speech recognition