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) Controls the various LEDs or ARI. You can select the desired set of LEDs, a colour effect, duration and priority, as well as provide effect-specific parameters (like the desired color).

See LEDs API for details.

/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 manoeuver on the robot

/chatbot/set_locale (documentation) Sets the current language of the RASA chatbot engine. Returns immediately if the required language is already loaded.

See Dialogue management and Internationalisation and language support for details.
/get_user_input (documentation)
/tts (documentation)
/asr/set_locale (documentation) Sets the current language of the vosk speech recognition (ASR) engine. Returns immediately if the required language is already loaded.

See How-to: Automatic Speech Recognition (ASR) on ARI and Internationalisation and language support for details.