List of ROS Actions#
This page lists all the ROS actions exposed by the SDK 23.12.
Caution
Only the actions contributing to the public API of the pal-sdk-23.12 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.
Alphabetic index#
/advanced_grasping/grasp/advanced_grasping/perception/advanced_grasping/place/arm_left_controller/follow_joint_trajectory/arm_right_controller/follow_joint_trajectory/asr/set_locale/chatbot/set_locale/execute_task/get_user_input/go_and_dock/head_controller/follow_joint_trajectory/motion_manager/move_base/pal_image_navigation_node/image_goal/pal_image_navigation_node/image_look/pal_led_manager/do_effect/pal_play_presentation/pal_play_presentation_from_name/pickup/place/play_motion/play_motion_builder_node/build/play_motion_builder_node/run/robot_face/overlay/safe_arm_left_controller/follow_joint_trajectory/safe_arm_right_controller/follow_joint_trajectory/tts/undocker_server
By capability#
Expressive interactions#
/robot_face/overlay(documentation) Sets a background (or foreground) image for the face/eyes of the robot. You can specify a duration or keep it until the action is cancelled, and animation are also supported. See Background and overlays for details.
Robot hardware#
/pal_led_manager/do_effect(documentation) Controls the various LEDs or PAL’s robots. 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.
Robot management#
/execute_task(documentation)
Mobile manipulation#
/advanced_grasping/perception(documentation) Look for an object and add it to the MoveIt! planning scene (part of the Advanced Grasping pipeline).See Overview of the Advanced Grasping pipeline for details and tutorials.
/advanced_grasping/grasp(documentation) Instructs the robot to grasp an object (part of the Advanced Grasping pipeline).See Overview of the Advanced Grasping pipeline for details and tutorials.
/advanced_grasping/place(documentation) Instructs the robot to place an object on a support (part of the Advanced Grasping pipeline).See Overview of the Advanced Grasping pipeline for details and tutorials.
Gestures and motions#
/arm_left_controller/follow_joint_trajectory(documentation)/arm_right_controller/follow_joint_trajectory(documentation)/head_controller/follow_joint_trajectory(documentation)/motion_manager(documentation)/pickup(documentation)/place(documentation)/play_motion(documentation)/play_motion_builder_node/build(documentation)/play_motion_builder_node/run(documentation)/safe_arm_left_controller/follow_joint_trajectory(documentation)/safe_arm_right_controller/follow_joint_trajectory(documentation)
Speech and language processing#
/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) and Internationalisation and language support for details.
/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)
Touchscreen#
/pal_play_presentation(documentation)/pal_play_presentation_from_name(documentation)