capabilities¶

Message types¶

• capabilities/CapabilitySpec
• capabilities/Remapping
• capabilities/Capability
• capabilities/CapabilityEvent
• capabilities/RunningCapability

capabilities/CapabilitySpec¶

Field:	package (string) – type (string) – content (string) – default_provider (string) –

Package which contains this spec file

# Package which contains this spec file
string package

# Type of spec file, one of:
#   'capability_interface'
#   'semantic_capability_interface'
#   'capability_provider'
string type

# Raw string content of the spec file
string content

# The name of the default provider (pulled from ROS param's)
# (only used for capability_interface specs)
string default_provider

capabilities/Remapping¶

Field:	key (string) – value (string) –

string key
string value

capabilities/Capability¶

Field:	capability (string) – provider (string) –

Capability

# Capability
string capability
# Used provider
string provider

capabilities/CapabilityEvent¶

Field:	header (std_msgs/Header) – capability (string) – provider (string) – type (string) – pid (int32) –
Constant:	LAUNCHED (string):"launched" – STOPPED (string):"stopped" – TERMINATED (string):"terminated" – SERVER_READY (string):"server_ready" –

Header header
# Capability which this event pretains to
string capability
# Capability provider which this event pretains to
string provider

# Event types
string LAUNCHED="launched"
string STOPPED="stopped"
string TERMINATED="terminated"
string SERVER_READY="server_ready"
# Event type
string type

# PID of the related process
int32 pid

capabilities/RunningCapability¶

Field:	capability (capabilities/Capability) – dependent_capabilities[] (capabilities/Capability) – started_by (string) – pid (int32) –

Name and provider of this running capability

# Name and provider of this running capability
Capability capability
# Capabilities which depend on this one
Capability[] dependent_capabilities
# Message stating what started this capability
string started_by
# Process ID of the running provider
int32 pid

Service types¶

• capabilities/GetRemappings
• capabilities/StartCapability
• capabilities/GetSemanticInterfaces
• capabilities/GetCapabilitySpec
• capabilities/EstablishBond
• capabilities/GetInterfaces
• capabilities/GetRunningCapabilities
• capabilities/UseCapability
• capabilities/FreeCapability
• capabilities/GetCapabilitySpecs
• capabilities/StopCapability
• capabilities/GetNodeletManagerName
• capabilities/GetProviders

capabilities/GetRemappings¶

Field (Request):
	spec (string) –
Field (Response):
	topics[] (capabilities/Remapping) – services[] (capabilities/Remapping) – actions[] (capabilities/Remapping) – parameters[] (capabilities/Remapping) –

string spec
---
Remapping[] topics
Remapping[] services
Remapping[] actions
Remapping[] parameters

capabilities/StartCapability¶

Field (Request):
	capability (string) – preferred_provider (string) –
Field (Response):
	successful (bool) –

string capability
string preferred_provider
---
bool successful

capabilities/GetSemanticInterfaces¶

Field (Request):
	interface (string) –
Field (Response):
	semantic_interfaces[] (string) –

string interface
---
string[] semantic_interfaces

capabilities/GetCapabilitySpec¶

Field (Request):
	capability_spec (string) –
Field (Response):
	capability_spec (capabilities/CapabilitySpec) –

string capability_spec
---
CapabilitySpec capability_spec

capabilities/EstablishBond¶

Field (Response):
	bond_id (string) –

---
string bond_id

capabilities/GetInterfaces¶

Field (Response):
	interfaces[] (string) –

---
string[] interfaces

capabilities/GetRunningCapabilities¶

Field (Response):
	running_capabilities[] (capabilities/RunningCapability) –

---
RunningCapability[] running_capabilities

capabilities/UseCapability¶

Field (Request):
	capability (string) – preferred_provider (string) – bond_id (string) –

string capability
string preferred_provider
string bond_id
---

capabilities/FreeCapability¶

Field (Request):
	capability (string) – bond_id (string) –

string capability
string bond_id
---

capabilities/GetCapabilitySpecs¶

Field (Response):
	capability_specs[] (capabilities/CapabilitySpec) –

---
CapabilitySpec[] capability_specs

capabilities/StopCapability¶

Field (Request):
	capability (string) –
Field (Response):
	successful (bool) –

string capability
---
bool successful

capabilities/GetNodeletManagerName¶

Field (Response):
	nodelet_manager_name (string) –

---
string nodelet_manager_name

capabilities/GetProviders¶

Field (Request):
	interface (string) – include_semantic (bool) –
Field (Response):
	providers[] (string) – default_provider (string) –

string interface
bool include_semantic
---
string[] providers
string default_provider