nexus_endpoints.redf.yaml

title: NEXUS Endpoints
description: NEXUS
version: 0.0.1
maintainers:
  - name: Teo Koon Peng
    email: koonpeng@openrobotics.org
license: Apache License 2.0
cpp_namespace: nexus::endpoints
endpoints:
  - title: List Workcells Service
    description: List of all registered workcells
    type: service
    service_name: /list_workcells
    service_type: nexus_orchestrator_msgs/srv/ListWorkcells
  - title: Workcell State Topic
    type: topic
    description: Current state of a workcell
    topic_name: /{workcell_id}/workcell_state
    message_type: nexus_orchestrator_msgs/msg/WorkcellState
    qos: {durability: "transient_local", reliability: "reliable"}
  # Work Order
  - title: Work Order Action
    description: Request for a work order to be executed in the NEXUS system
    type: action
    action_name: /system_orchestrator/execute_order
    action_type: nexus_orchestrator_msgs/action/ExecuteWorkOrder
  - title: Work Order States Topic
    description: States of work orders
    type: topic
    topic_name: /work_order_states
    message_type: nexus_orchestrator_msgs/msg/WorkOrderState
  - title: Get Work Order State Service
    description: Get the state of a work order
    type: service
    service_name: /get_work_order_state
    service_type: nexus_orchestrator_msgs/srv/GetWorkOrderState
  - title: Is Task Doable Service
    description: Checks if a task can be performed.
    type: service
    service_name: /{workcell_id}/is_task_doable
    service_type: nexus_orchestrator_msgs/srv/IsTaskDoable
  # Workcell Request
  - title: Workcell Request Action
    description: Request a workcell to do some work. If the task is not already queued, it will be added to the back of the queue.
    type: action
    action_name: '{workcell_id}/request'
    action_type: nexus_orchestrator_msgs/action/WorkcellTask
  - title: Queue Workcell Task Service
    description: Queue a task on the workcell, the task can be started later with a call to "Workcell Request" with the same task id.
    type: service
    service_name: '{workcell_id}/queue_task'
    service_type: nexus_orchestrator_msgs/srv/QueueWorkcellTask
  - title: Remove Pending Task Service
    description: Remove a pending workcell task.
    type: service
    service_name: '{workcell_id}/remove_pending_task'
    service_type: nexus_orchestrator_msgs/srv/RemovePendingTask
  - title: Register Workcell Service
    description: Register a workcell
    type: service
    service_name: /register_workcell
  # Robot Arm Controller
    service_type: nexus_orchestrator_msgs/srv/RegisterWorkcell
  - title: Controller Robot Trajectory Action
    description: Send a controller action goal to a robot arm
    type: action
    action_name: /joint_trajectory_controller/follow_joint_trajectory
    action_type: control_msgs/action/FollowJointTrajectory
  - title: Controller Robot Trajectory Topic
    description: Send a controller trajectory to a robot arm via topic
    type: topic
    topic_name: /joint_trajectory_position_controller/joint_trajectory
    message_type: trajectory_msgs/msg/JointTrajectory
  # Transporter
  - title: Register Transporter Service
    description: Register a system that provides transportation services with the System Orchestrator
    type: service
    service_name: /register_transporter
    service_type: nexus_orchestrator_msgs/srv/RegisterTransporter
  - title: List Transporter Service
    description: List of transporters registered
    type: service
    service_name: /list_transporters
    service_type: nexus_orchestrator_msgs/srv/ListTransporters
  - title: Is Transporter Available Service
    description: Query a transporter to check if it can fulfil a request
    type: service
    service_name: '{transporter_id}/available'
    service_type: nexus_transporter_msgs/srv/IsTransporterAvailable
  - title: Transport Action
    description: Send a transporter an action goal
    type: action
    action_name: '{transporter_id}/transport'
    action_type: nexus_transporter_msgs/action/Transport
  # Detector
  - title: Detector Service
    description: Get 3D poses of objects detected by a detector
    type: service
    service_name: '{detector_id}/detect'
    service_type: nexus_detector_msgs/srv/Detect
  # Gripper
  - title: GripperCommand Action
    description: Send a command to a gripper
    type: action
    action_name: '{gripper_id}/command'
    action_type: control_msgs/action/GripperCommand
  # Motion Planner Server
  - title: Get Motion Plan Service
    description: Get a motion plan from the motion planner server
    type: service
    service_name: /motion_planner_server/plan
    service_type: nexus_motion_planner_msgs/srv/GetMotionPlan
  # Emergency stop
  - title: Emergency Stop Topic
    description: |
      Emergency stop alarm.

      When this is triggered, all workcells will cancel their current action as soon as possible, all current work orders will fail and new work orders will not be accepted until it is cleared.
    type: topic
    topic_name: /estop
    message_type: nexus_alarm_msgs/msg/EmergencyStop
  - title: Pause System Service
    description: Pause execution of all workcells
    type: service
    service_name: /pause
    service_type: nexus_orchestrator_msgs/srv/PauseSystem
  - title: Pause Workcell Service
    description: |
      Pause execution of a workcell.

      When a workcell receives a pause request, it will complete it's current action and stop processing furthur actions until it is unpaused.
    type: service
    service_name: /{workcell_id}/pause
    service_type: nexus_orchestrator_msgs/srv/PauseWorkcell
    qos: {durability: "transient_local", reliability: "reliable"}
  - title: Signal Workcell Service
    description: Sends a signal to a workcell.
    type: service
    service_name: /{workcell_id}/signal
    service_type: nexus_orchestrator_msgs/srv/SignalWorkcell
  # Dispenser Service
  - title: Dispenser Service
    description: Send a request to a dispenser
    type: service
    service_name: '{dispenser_id}/dispense'
    service_type: nexus_dispenser_msgs/srv/DispenseItem
  # Calibration
  - title: Extrinsic Calibration Service
    description: Get extrinsic calibration results from a workcell
    type: service
    service_name: '/{workcell_id}/calibrate_extrinsics'
    service_type: nexus_calibration_msgs/srv/CalibrateExtrinsics