List of ROS Actions#

This page lists all the public ROS actions available in PAL OS 24.9.

Caution

Only the actions contributing to the public API of the PAL OS 24.9 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#

By capability#

💬 Communication #

/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 asr_howto and internationalization 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 overview_nlp and internationalization for details.
/get_user_input (documentation)
/i18n_manager/set_locale (documentation) Sets the language to all the associated nodes
/say (documentation) Speak out the provided input text (also executing any additional markup action). See tts_howto for details.

⚙️ Robots 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 #

/change_controllers (documentation) Allows to change controllers with a single call, avoiding resources conflict.

See How to change your robot’s motion controller for details.
/execute_task (documentation)

🦾 Manipulation #

/advanced_grasping/grasp (documentation) Instructs the robot to grasp an object (part of the Advanced Grasping pipeline).

See overview-advanced-grasping for details and tutorials.
/advanced_grasping/perception (documentation) Look for an object and add it to the MoveIt! planning scene (part of the Advanced Grasping pipeline).

See overview-advanced-grasping 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-advanced-grasping for details and tutorials.

👋 Gestures and motions #

/arm_controller/follow_joint_trajectory (documentation) Moves the arm joints to the desired positions
/arm_left_controller/follow_joint_trajectory (documentation)
/arm_right_controller/follow_joint_trajectory (documentation)
/gripper_controller/follow_joint_trajectory (documentation) This action encapsulates the trajectory_msgs/JointTrajectory message
/gripper_controller/increment (documentation) Moves the gripper joints the desired increment
/head_controller/follow_joint_trajectory (documentation) Moves the head joints to the desired positions
/head_controller/increment (documentation) Moves the head joints the desired increment
/head_controller/point_head_action (documentation) Moves the head joints to the necessary positions to point to a desired position, performing inverse kinematics
/joy_turbo_reset (documentation)
/motion_manager (documentation)
/pickup (documentation)
/place (documentation)
/play_motion (documentation)
/play_motion_builder_node/build (documentation)
/play_motion_builder_node/run (documentation)
/play_motion2 (documentation) Allows executing simultaneous trajectories in multiple groups of joints.
/safe_arm_controller/follow_joint_trajectory (documentation) Moves the arm joints to the desired positions providing there are no self-collisions
/safe_arm_left_controller/follow_joint_trajectory (documentation)
/safe_arm_right_controller/follow_joint_trajectory (documentation)
/safe_torso_controller/follow_joint_trajectory (documentation) This action encapsulates the trajectory_msgs/JointTrajectory message; the goal is discarded if a self-collision will occur.
/torso_controller/follow_joint_trajectory (documentation) This action encapsulates the trajectory_msgs/JointTrajectory message
/torso_controller/increment (documentation)

🧭 Navigation #

/backup (documentation) Nav2 Behavior Plugin implementing a configurable Back up behavior. It allows backward movements to recover the robot when is stuck.

For more information on this Behavior, check the Nav2 BackUp Behavior documentation.
/compute_path_through_poses (documentation) Nav2 Action Server implemented by the nav2_planner package. Calculates a Path through a series of poses.
/compute_path_to_pose (documentation) Nav2 Action Server implemented by the nav2_planner package. Calculates a Path to reach a certain pose.
/detect_target (documentation) Action Server responsible for detecting and localizing a Target with respect to the robot. It can load multiple plugins for the detection of different Targets using different sensors.

For more information, check the 📡 Target Detection.
/drive_on_heading (documentation) Nav2 Behavior Plugin which causes the robot to drive on the current heading by a specific displacement. It performs a linear translation by a given distance.

For more information on this Behavior, check the Nav2 DriveOnHeading Behavior documentation.
/follow_path (documentation) Nav2 Action Server implemented by the nav2_controller package. Executes a given Path using the Controller (Local Planner).
/follow_waypoints (documentation) Nav2 Action Server implemented by the nav2_waypoint_follower package. Reaches a list of Waypoints, eventually performing a custom Waypoint Action upon the Waypoint arrival.

For more information on this server, check the Nav2 Waypoint Follower documentation.
/joy_priority_action (documentation) Joystick Relay functionality implemented in the twist_mux package. Toggles the priority of the joystick control over the robot’s movement.

For more information, check the twist_mux documentation.
/joy_turbo_angular_decrease (documentation) Joystick Relay functionality implemented in the twist_mux package. Decreases the maximum angular velocity that the joystick can send to the robot.

For more information, check the twist_mux documentation.
/joy_turbo_angular_increase (documentation) Joystick Relay functionality implemented in the twist_mux package. Increases the maximum angular velocity that the joystick can send to the robot.

For more information, check the twist_mux documentation.
/joy_turbo_decrease (documentation) Joystick Relay functionality implemented in the twist_mux package. Decreases the maximum linear velocity that the joystick can send to the robot.

For more information, check the twist_mux documentation.
/joy_turbo_increase (documentation) Joystick Relay functionality implemented in the twist_mux package. Increases the maximum linear velocity that the joystick can send to the robot.

For more information, check the twist_mux documentation.
/joy_turbo_reset (documentation) Joystick Relay functionality implemented in the twist_mux package. Reset to default the maximum linear and angular velocity that the joystick can send to the robot.

For more information, check the twist_mux documentation.
/navigate_through_poses (documentation) Nav2 BT Navigator implemented by the nav2_bt_navigator package. Implements a navigation behavior from a starting point, through many intermediary hard pose constraints, to a final goal, using a specified Behavior Tree.

For more information on this Navigator, check the Nav2 NavigateThroughPoses documentation.
/navigate_through_waypoints (documentation) Nav2 BT Navigator implemented for PAL robots. It integrates the functionalities of the Nav2 Navigate Through Poses documentation (see /navigate_through_poses) with the ones of the Nav2 Waypoint Follower documentation (see /follow_waypoints). It uses a Behavior Tree to navigate from a starting point, through a series of waypoints, eventually executing a list of Waypoint Actions upon each Waypoint arrival.

For more information, check the 🚩 Waypoint Navigation.
/navigate_to_pose (documentation) Nav2 BT Navigator implemented by the nav2_bt_navigator package. It navigates from a starting point to a single point goal using a specified Behavior Tree.

For more information on this Navigator, check the Nav2 NavigateToPose documentation.
/navigate_to_target (documentation) Nav2 BT Navigator implemented for PAL robots. It uses the /detect_target action to detect and localize a Target with respect to the robot. Once a Target has been detected, it loads a Behavior Tree to navigate the robot to the detected Target.

For more information, check the 🎯 Target Navigation.
/set_configuration (documentation) PAL Nav2 Behavior Plugin that allows to dynamically change the configuration of any Navigation node.
/set_parameter (documentation) PAL Nav2 Behavior Plugin that allows to dynamically change a parameter for any Navigation node.
/spin (documentation) Nav2 Behavior Plugin implementing a configurable spin behavior. It makes the robot rotate by a certaing angle.

For more information on this Behavior, check the Nav2 Spin Behavior documentation.
/wait (documentation) Nav2 Behavior Plugin implementing a configurable wait behavior. It makes the robot wait a certain amount of time.

For more information on this Behavior, check the Nav2 Wait Behavior documentation.

🖥️ Touchscreen #

/pal_play_presentation (documentation)
/pal_play_presentation_from_name (documentation)

List of ROS Actions#

Alphabetic index#

By capability#

💬 Communication#

⚙️ Robots hardware#

🛠 Robot management#

🦾 Manipulation#

👋 Gestures and motions#

🧭 Navigation#

🖥️ Touchscreen#

💬 Communication #

⚙️ Robots hardware #

🛠 Robot management #

🦾 Manipulation #

👋 Gestures and motions #

🧭 Navigation #

🖥️ Touchscreen #