List of ROS Services#

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

Caution

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

😄 Expressive interactions#

  • /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 [ROS2 🤔] /gaze_manager/enable_neck and attention-management.

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

    See also [ROS2 🤔] /gaze_manager/disable_neck and attention-management.

  • /gaze_manager/reset_gaze (documentation) Reset the gaze direction to facing the robot’s front. If previously disabled, re-enable the neck control.

    See attention-management for additional details on gaze control.

⚙️ Robots hardware#

🛠 Robot management#

🦾 Manipulation#

  • /advanced_grasping/clear_planning_scene (documentation) Clears the MoveIt! planning scene. See overview-advanced-grasping.

👋 Gestures and motions#

🧭 Navigation#

💡 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.

🖥️ Touchscreen#