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Capabilities2 Server

Capabilities2 server allows interaction with the capabilities2 API. It is a reimplementation of the capabilities package using C++ (original capabilities package was written in Python 2.7). In addition to C++ reimplementation being more resource efficient, this package extends the capabilities package features in following ways,

  1. Database support for storing capabilities.
  2. Capability registration through service calls.
  3. Abstracted providers through a runners API see capabilities2_runner

Specialising the capabilities2 server

The capabilities2 server is implemented as a ROS2 Component. The server can be specialised by composing it with another Component that adds domain logic.

Launch capabilities2 server

source install/setup.bash
ros2 launch capabilities2_server server.launch.py

Refer capabilities2_server/config/capabilities.yaml for launch arguments.

System dependencies

The capabilities2 server depends on the following bondcpp ROS2 package. See the package.xml for the full list of dependencies. Notably, the capabilities2 server depends on the following system dependencies:

  • sqlite3
  • yaml-cpp
  • tinyxml2

API

The capabilities2 server provides the following ROS2 API:

Services

The capabilities2 server exposes the following Service API (see capabilities2_msgs for data types):

Topic Service Message Description
~/get_interfaces GetInterfaces.srv Get the interfaces provided by the capabilities server
~/get_semantic_interfaces GetSemanticInterfaces.srv Get the semantic interfaces provided by the capabilities server
~/get_providers GetProviders.srv Get the providers available on the capabilities server
~/get_remappings GetRemappings.srv Get the remappings for a capability
~/get_capability_spec GetCapabilitySpec.srv Get a raw specifications for a capability
~/get_capability_specs GetCapabilitySpecs.srv Get all raw specifications in the capabilities server
~/get_running_capabilities GetRunningCapabilities.srv Get the currently running capabilities
~/establish_bond EstablishBond.srv Establish a bond with the capabilities server to use capabilities
~/use_capability UseCapability.srv Use a capability - must be bonded
~/free_capability FreeCapability.srv Free a capability (when done using it, when all users are done the capability is freed) - must be bonded
~/start_capability StartCapability.srv Start a capability (this is a forceful start, and ignores use and free logic)
~/stop_capability StopCapability.srv Stop a capability (this is a forceful stop, and ignores use and free logic)
~/register_capability RegisterCapability.srv Register a capability with the capabilities server
~/trigger_capability TriggerCapability.srv Trigger a capability - must be bonded
~/connect_capability ConnectCapability.srv Configure a capability with on_start, on_end, on_success, on_failure event connections - must be bonded

Topics

The capabilities2 server exposes the following Topics API:

Topic Message Description
~/events CapabilityEventStamped.msg Publish capability events
~/bonds bond/Status.msg Maintain bonds with capability users - Bond API

Additional Information