List of ROS Services#

This page lists all the ROS services exposed by the SDK 23.12.

Caution

Only the services contributing to the public API of the pal-sdk-23.12 are listed here.

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

Alphabetic index#

/attention_manager/set_policy (documentation) Change the high-level attention behaviour of the robot. See attention_management for details.
/gaze_manager/disable_neck (documentation) Instruct the gaze manager to only use the eyes to control the robot’s gaze direction. Useful if you want to independently control the head pose.

See also /gaze_manager/enable_neck and Controlling the attention and gaze of the robot.
/gaze_manager/enable_neck (documentation) Instruct the gaze manager to use both eyes and neck to direct the gaze of the robot.

See also /gaze_manager/disable_neck and Controlling the attention and gaze of the robot.
/gaze_manager/reset_gaze (documentation) Reset the gaze direction to facing the robot’s front. If previously disabled, re-enable the neck control.

See Controlling the attention and gaze of the robot for additional details on gaze control.
/robot_face/reset_background (documentation) Clears the background of the robot’s face/eyes if any. See Background and overlays. Note that this service can not be used to clear an overlay set via the /robot_face/overlay action – in that case, simply cancel the on-going action.

/pal_master_calibration/save_calibration_section (documentation)
/torso_front_camera/rgb_camera/set_parameters (documentation) Changes the specified parameters (dynamic_reconfigure/Reconfigure)
/torso_front_camera/stereo_module/set_parameters (documentation)
/xtion/get_serial (documentation) Service to retrieve the serial number of the camera.
/xtion/rgb/set_camera_info (documentation) Changes the intrinsic and distortion parameters of the color camera.

/get_task_configuration (documentation)
/get_task_types (documentation)
/interaction_profile_manager/set_parameters (documentation)
/logout (documentation)
/pal_startup_control/get_log (documentation) Get the logs of a specific app. See Configure an application to launch at start-up.
/pal_startup_control/get_log_file (documentation) Returns the path of the log file of the specified app. See Configure an application to launch at start-up.
/pal_startup_control/start (documentation) Starts one of a start-up applications. See Configure an application to launch at start-up.
/pal_startup_control/stop (documentation) Stops one of a start-up applications. See Configure an application to launch at start-up.
/task_administrator/add_task (documentation)
/task_administrator/edit_task (documentation)
/task_administrator/get_schedule_by_date (documentation)
/task_administrator/get_task_list (documentation)
/task_administrator/remove_task (documentation)

/advanced_grasping/clear_planning_scene (documentation) Clears the MoveIt! planning scene. See Overview of the Advanced Grasping pipeline.

/offline_map/undo_last_update (documentation)
/offline_map/update_map (documentation)
/pal_map_manager/change_building (documentation) Change the current building
/pal_map_manager/change_map (documentation) Select the active map
/pal_map_manager/current_map (documentation) Get the current map that the robot is using for navigation and localization
/pal_map_manager/list_maps (documentation) Get the list of all the available maps on the robot
/pal_map_manager/rename_map (documentation) Renames a given map
/pal_map_manager/save_curr_building_conf (documentation) Stores and persists on the filesystem the current building parameters such as tasks
/pal_map_manager/save_map (documentation) Save the map to a given file
/pal_navigation_sm (documentation) Set the navigation mode to mapping or to localization mode

/kb/about (documentation) Returns the list of triples where term is either subject, predicate or object.

See KnowledgeCore documentation for details.
/kb/events (documentation) Allow to subscribe to events by providing a (set of) partially-bound triples. Calling the service returns an event id. Subscribe then to /kb/events/<id> to be notified everytime a new instance/class match the provided pattern.

See KnowledgeCore documentation for details.
/kb/lookup (documentation) Search the knowledge base for a term matching a string. The search is performed both on terms’ names and on label.

Returns the list of found terms, alongside with their type (one of instance, class, datatype_property, object_property, literal).

See KnowledgeCore documentation for details.
/kb/manage (documentation) Service to manage the knowledge base, including clearing all content and loading external ontologies.

See KnowledgeCore documentation for details.
/kb/query (documentation) Perform a simple query against the knowledge base.

See KnowledgeCore documentation for details.
/kb/revise (documentation) Add/remove facts to/from the knowledge base using a synchronous interface.

See KnowledgeCore documentation for details.
/kb/sparql (documentation) Perform a complex query on the knowledge base, using the SPARQL syntax.

See KnowledgeCore documentation for details.

/active_chatbot (documentation) Returns the chatbot that is currently running on the robot.
/get_speech_duration (documentation)
/wakeup_monitor/enable (documentation) Enable/disable the monitor of wake-up/sleep keywords. See Wake-up word detector for details.
/wakeup_monitor/get_sleep_pattern (documentation) Returns the current ‘sleep’ pattern (C++ regular expression). See Wake-up word detector for details.
/wakeup_monitor/get_wakeup_pattern (documentation) Returns the current ‘wakeup’ pattern (C++ regular expression). See Wake-up word detector for details.
/wakeup_monitor/set_sleep_pattern (documentation) Sets a custom ‘sleep’ pattern (C++ regular expression). See Wake-up word detector for details.
/wakeup_monitor/set_wakeup_pattern (documentation) Sets a custom ‘wakeup’ pattern (C++ regular expression). See Wake-up word detector for details.