List of ROS Services#

This page lists all the public ROS services available in PAL OS 25.01.

Caution

Only the services contributing to the public API of the PAL OS 25.01 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#

By capability#

💬 Communication #

/soft_wakeup_word/disable (documentation) Disable the monitor of wake-up/sleep keywords. See Wake-up word detector for details.
/soft_wakeup_word/enable (documentation) Enable the monitor of wake-up/sleep keywords. See Wake-up word detector for details.
/soft_wakeup_word/get_sleep_pattern (documentation) Returns the current ‘sleep’ pattern (C++ regular expression). See Wake-up word detector for details.
/soft_wakeup_word/get_wakeup_pattern (documentation) Returns the current ‘wakeup’ pattern (C++ regular expression). See Wake-up word detector for details.
/soft_wakeup_word/set_sleep_pattern (documentation) Sets a custom ‘sleep’ pattern (C++ regular expression). See Wake-up word detector for details.
/soft_wakeup_word/set_wakeup_pattern (documentation) Sets a custom ‘wakeup’ pattern (C++ regular expression). See Wake-up word detector for details.

😄 Expressive interactions #

/attention_manager/set_policy (documentation) Change the high-level attention behaviour of the robot. See Controlling the attention and gaze of the robot for details.

⚙️ Robots hardware #

/mm11/led/set_strip_animation (documentation) Sets an animation effect to the LED strip.

See LEDs API.
/mm11/led/set_strip_color (documentation) Sets all the pixels in the strip to a color.

See LEDs API.
/mm11/led/set_strip_flash (documentation) Sets a flashing effect to the LED strip.

See LEDs API.
/mm11/led/set_strip_pixel_color (documentation) Sets one pixel in the strip to a color.

See LEDs API.
/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.

🛠 Robot management #

/controller_manager/configure_controller (documentation) Configures the state of a controller.

See How to change your robot’s motion controller.
/controller_manager/list_controllers (documentation) Lists all the loaded controllers.

See How to change your robot’s motion controller.
/controller_manager/load_controller (documentation) Loads a controller.

See How to change your robot’s motion controller.
/controller_manager/switch_controller (documentation) Start and/or stop a set of controllers.

See How to change your robot’s motion controller.
/controller_manager/unload_controller (documentation) Unloads a controller.

See How to change your robot’s motion controller.
/module_manager_node/configure_module_manager (documentation) Reloads modules without restarting the module manager

See The startup process of the robot and application management.
/module_manager_node/enable_module (documentation) Enables a module The module will be started when the module manager is started.

See The startup process of the robot and application management.
/module_manager_node/disable_module (documentation) Disables a module. The module will not be started when the module manager is started.

See The startup process of the robot and application management.
/module_manager_node/get_module_info (documentation) Get the information of a given module.

See The startup process of the robot and application management.
/module_manager_node/get_module_log_file_path (documentation) Get the file path of the log of a given module.

See The startup process of the robot and application management.
/module_manager_node/list_module_sets (documentation) Lists the available modules sets on the robot.

See The startup process of the robot and application management.
/module_manager_node/list_modules (documentation) Lists the available modules on the robot.

See The startup process of the robot and application management.
/module_manager_node/start_module (documentation) Starts a module with the module manager.

See The startup process of the robot and application management.
/module_manager_node/start_module_manager (documentation) Starts the module manager.

See The startup process of the robot and application management.
/module_manager_node/stop_module (documentation) Stops a module with the module manager.

See The startup process of the robot and application management.
/module_manager_node/stop_module_manager (documentation) Stops the module manager.

See The startup process of the robot and application management.

🦾 Manipulation #

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

👋 Gestures and motions #

/play_motion2/list_motions (documentation) Get the list motions available for play_motion2

🧭 Navigation #

/docking_manager/get_docks (documentation) Retrieves a list of all the docks stored in the persistent database
/docking_server/reload_database (documentation) Reloads the dock’s database with a new filepath
/eulero_manager/activate_building (documentation) Activates a specified Building
/eulero_manager/activate_building_anchor (documentation) Activates a specified BuildingAnchor
/eulero_manager/activate_floor (documentation) Activates a specified Floor
/eulero_manager/activate_floor_anchor (documentation) Activates a specified FloorAnchor
/eulero_manager/activate_lane (documentation) Activates a specified Lane
/eulero_manager/activate_map (documentation) Activates a specified Map
/eulero_manager/activate_waypoint (documentation) Activates a specified Waypoint
/eulero_manager/activate_waypoint_list (documentation) Activates a specified WaypointList
/eulero_manager/activate_zone (documentation) Activates a specified Zone
/eulero_manager/create_building (documentation) Creates a new Building
/eulero_manager/create_building_anchor (documentation) Creates a new BuildingAnchor
/eulero_manager/create_floor (documentation) Creates a new Floor
/eulero_manager/create_floor_anchor (documentation) Creates a new FloorAnchor
/eulero_manager/create_lane (documentation) Creates a new Lane
/eulero_manager/create_map (documentation) Creates a new Map
/eulero_manager/create_waypoint (documentation) Creates a new Waypoint
/eulero_manager/create_waypoint_list (documentation) Creates a new WaypointList
/eulero_manager/create_zone (documentation) Creates a new Zone
/eulero_manager/deactivate_building (documentation) Deactivates a specified Building
/eulero_manager/deactivate_building_anchor (documentation) Deactivates a specified BuildingAnchor
/eulero_manager/deactivate_floor (documentation) Deactivates a specified Floor
/eulero_manager/deactivate_floor_anchor (documentation) Deactivates a specified FloorAnchor
/eulero_manager/deactivate_lane (documentation) Deactivates a specified Lane
/eulero_manager/deactivate_map (documentation) Deactivates a specified Map
/eulero_manager/deactivate_waypoint (documentation) Deactivates a specified Waypoint
/eulero_manager/deactivate_waypoint_list (documentation) Deactivates a specified WaypointList
/eulero_manager/deactivate_zone (documentation) Deactivates a specified Zone
/eulero_manager/disable_building (documentation) Disables a specified Building
/eulero_manager/disable_building_anchor (documentation) Disables a specified BuildingAnchor
/eulero_manager/disable_floor (documentation) Disables a specified Floor
/eulero_manager/disable_floor_anchor (documentation) Disables a specified FloorAnchor
/eulero_manager/disable_lane (documentation) Disables a specified Lane
/eulero_manager/disable_map (documentation) Disables a specified Map
/eulero_manager/disable_waypoint (documentation) Disables a specified Waypoint
/eulero_manager/disable_waypoint_list (documentation) Disables a specified WaypointList
/eulero_manager/disable_zone (documentation) Disables a specified Zone
/eulero_manager/enable_building (documentation) Enables a specified Building
/eulero_manager/enable_building_anchor (documentation) Enables a specified BuildingAnchor
/eulero_manager/enable_floor (documentation) Enables a specified Floor
/eulero_manager/enable_floor_anchor (documentation) Enables a specified FloorAnchor
/eulero_manager/enable_lane (documentation) Enables a specified Lane
/eulero_manager/enable_map (documentation) Enables a specified Map
/eulero_manager/enable_waypoint (documentation) Enables a specified Waypoint
/eulero_manager/enable_waypoint_list (documentation) Enables a specified WaypointList
/eulero_manager/enable_zone (documentation) Enables a specified Zone
/eulero_manager/get_building (documentation) Retrieves a fully initialized Building
/eulero_manager/get_building_anchor (documentation) Retrieves a fully initialized BuildingAnchor
/eulero_manager/get_floor (documentation) Retrieves a fully initialized Floor
/eulero_manager/get_floor_anchor (documentation) Retrieves a fully initialized FloorAnchor
/eulero_manager/get_lane (documentation) Retrieves a fully initialized Lane
/eulero_manager/get_map (documentation) Retrieves a fully initialized Map
/eulero_manager/get_waypoint (documentation) Retrieves a fully initialized Waypoint
/eulero_manager/get_waypoint_list (documentation) Retrieves a fully initialized WaypointList
/eulero_manager/get_zone (documentation) Retrieves a fully initialized Zone
/eulero_manager/list_building_anchors (documentation) Retrieves the keys of all the BuildingAnchors
/eulero_manager/list_buildings (documentation) Retrieves the keys of all the Buildings
/eulero_manager/list_floor_anchors (documentation) Retrieves the keys of all the FloorAnchors
/eulero_manager/list_floors (documentation) Retrieves the keys of all the Floors
/eulero_manager/list_lanes (documentation) Retrieves the keys of all the Lanes
/eulero_manager/list_maps (documentation) Retrieves the keys of all the Maps
/eulero_manager/list_waypoint_lists (documentation) Retrieves the keys of all the WaypointLists
/eulero_manager/list_waypoints (documentation) Retrieves the keys of all the Waypoints
/eulero_manager/list_zones (documentation) Retrieves the keys of all the Zones
/global_costmap/clear_around_global_costmap (documentation) Clears the Global Costmap within a certain square around the robot
/global_costmap/clear_entirely_global_costmap (documentation) Clears the entire Global Costmap
/global_costmap/clear_except_global_costmap (documentation) Clears the Global Costmap EXCEPT a certain square around the robot
/global_costmap/get_costmap (documentation) Retrieves the current Global Costmap
/global_costmap/keepout_filter/toggle_filter (documentation) Toggles the Keepout Costmap Filter in the Global Costmap
/global_costmap/speed_filter/toggle_filter (documentation) Toggles the Speed Area Costmap Filter in the Global Costmap
/local_costmap/clear_around_local_costmap (documentation) Clears the Local Costmap within a certain square around the robot
/local_costmap/clear_entirely_local_costmap (documentation) Clears the entire Local Costmap
/local_costmap/clear_except_local_costmap (documentation) Clears the Local Costmap EXCEPT a certain square around the robot
/local_costmap/get_costmap (documentation) Retrieves the current Local Costmap
/local_costmap/keepout_filter/toggle_filter (documentation) Toggles the Keepout Costmap Filter in the Local Costmap
/map_mask_server/load_map (documentation) Configures the map_mask_server to use a given path to a map for the mask generation
/map_mask_server/set_map (documentation) Configures the map_mask_server to use a given OccupancyGrid for the mask generation
/map_saver/save_map (documentation) Saves an OccupancyGrid from a certain ROS 2 topic into the filesystem
/map_server/load_map (documentation) Changes the current hosted map from a path to a given map
/map_server/map (documentation) Retrieves the current Map (OccupancyGrid) hosted by the map_server
/set_initial_pose (documentation) Sets an initial pose estimated for the robot used as initial guess for amcl
/slam_toolbox/clear_changes (documentation) Clears all manual pose-graph manipulation changes pending.
/slam_toolbox/deserialize_map (documentation) Loads a saved serialized pose-graph file from disk.
/slam_toolbox/dynamic_map (documentation) Requests the current state of the pose-graph as an occupancy grid.
/slam_toolbox/manual_loop_closure (documentation) Requests the manual changes to the pose-graph pending to be processed.
/slam_toolbox/pause_new_measurements (documentation) Pauses processing of new incoming laser scans by the toolbox.
/slam_toolbox/reset (documentation) Resets current map back to the initial state.
/slam_toolbox/save_map (documentation) Saves the map image file of the pose-graph that is useable for display or AMCL localization. It is a simple wrapper on map_server/map_saver but is useful.
/slam_toolbox/serialize_map (documentation) Saves the map pose-graph and data that is usable for continued mapping, slam_toolbox localization, offline manipulation, and more.
/slam_toolbox/toggle_interactive_mode (documentation) Toggles in and out of interactive mode, publishing interactive markers of the nodes and their positions to be updated in an application.

💡 Knowledge and reasoning #

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

See the KnowledgeCore API for details.
/kb/details (documentation) Returns a dictionary containing the several details on a given resource (including its type, class, properties, etc.)

See the KnowledgeCore API 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 the KnowledgeCore API for details.
/kb/label (documentation) Returns the labels attached to a term, as a dictionary {"default":"label1", "lang_code1": label1, "lang_code2": "label2",...} where the ‘default’ key returns either the English version of the label, or the name of the term, if no label is available, and the other keys provide localised version of the label, if available in the knowledge base.

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

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

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

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

See the KnowledgeCore API for details.