Interfaces for Action Servers, Services and Offboard Communications

Service Servers

The GetRobotPose.srv details the message types for the robot_pose_server.py which is a service server to get localization pose

Action Message Definitions

These are located in the action folder with .aciton files defining the messages for the interfaces of all custom actions servers used on the robot

High Level Logic

The action servers are part of the state machine on the robot which will call on each action server independently

Low Level Logic

Each action server communicates vital feedback or results which need to be propogated to the top level nodes. This specific communication is shown below

Launching Services

The service should also be launched when launching the action server (and must therefore be included in the action server launch files, TBD)

Temporary measure to launch server

ros2 run robot_action_interfaces robot_pose_server.py