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Librux Runtime Kernel for Robotics development
Librux Runtime Kernel for Robotics development

    API Contract Reference

    This page is the namespace-by-namespace catalog of canonical Librux API contracts.

    Use this page when you need the concrete event, control, procedure, and operation surfaces attached to a semantic namespace. For the conceptual model and endpoint reading rules, start with API Contract Model.

    API Contract anchors on this page are stable so component references and generated documentation can link directly to each contract namespace.

    api.motion.articulated.state.*

    Uses.

    Event

    API State Payload
    joint_state JointState

    api.motion.articulated.velocity.*

    Uses.

    Control

    API Request / Args Response
    joint_velocity JointVelocity BoolValue

    Rule.

    • articulated periodic control belongs here, not in trajectory API contracts

    api.motion.articulated.trajectory.*

    Uses.

    Procedure

    API Request / Args Response
    stop ramp_time_ns?: int64 BoolValue
    pause ramp_time_ns?: int64 BoolValue
    resume Empty BoolValue

    Operation

    API Request / Args Feedback Result State
    move_j waypoints: JointWayPoint[]
    finish_mode?: string    		 MotionFeedback MotionResult MotionState

    Rule.

    • move_j belongs here, not in manipulator, because it is joint-space motion and does not require TCP or tool semantics

    api.motion.manipulator.state.*

    Uses.

    Event

    API State Payload
    tool_pose Pose
    motion_state MotionState
    tool_settings ToolSettings

    api.motion.manipulator.velocity.*

    Uses.

    Control

    API Request / Args Response
    tcp_velocity Twist BoolValue

    Rule.

    • manipulator periodic control should use TCP twist semantics instead of a manipulator-specific velocity wrapper

    api.motion.manipulator.tooling.*

    Uses.

    Procedure

    API Request / Args Response
    set_tcp tcp: [TCP](message-index.md#msg-motion-manipulator-v1-tcp) BoolValue
    set_payload payload: [Payload](message-index.md#msg-motion-manipulator-v1-payload)
    transition_time_ns?: int64    		 BoolValue

    api.motion.manipulator.cartesian.*

    Uses.

    Operation

    API Request / Args Feedback Result State
    move_l waypoints: TaskWayPoint[]
    finish_mode?: string    		 MotionFeedback MotionResult MotionState
    move_c via_point: TaskWayPoint
    target_point: TaskWayPoint
    finish_mode?: string    		 MotionFeedback MotionResult MotionState

    api.locomotion.velocity.*

    Uses.

    Control

    API Request / Args Response
    velocity_command VelocityCommand CommandAck

    Procedure

    API Request / Args Response
    set_velocity_limits VelocityLimits CommandAck
    get_velocity_limits Empty VelocityLimits
    stop StopRequest CommandAck

    Rule.

    • locomotion velocity commands are timed Control requests with explicit stamp_sync_ns and ttl_ms
    • mobile-base controllers must support base_link as a command frame

    api.locomotion.mobile_base.state.*

    Uses.

    Event

    API State Payload
    mobile_base_state MobileBaseState
    fault_state FaultState

    Procedure

    API Request / Args Response
    get_status Empty MobileBaseState
    enable_drive EnableDriveRequest CommandAck
    disable_drive DisableDriveRequest CommandAck
    clear_fault ClearFaultRequest CommandAck

    Rule.

    • mobile-base API contracts should keep wheeled-platform-specific state and leave generic velocity control to api.locomotion.velocity.*

    api.locomotion.odometry.*

    API State Payload
    odometry Odometry

    api.locomotion.diff_drive.*

    API State Payload
    wheel_command WheelCommand
    wheel_state WheelState
    API Request / Args Response
    get_diff_drive_kinematics Empty DiffDriveKinematics
    set_diff_drive_kinematics DiffDriveKinematics CommandAck

    api.locomotion.legged.state.*

    Uses.

    Event

    API State Payload
    contact_state ContactArray
    foot_state FootState or array form
    balance_state BalanceState
    gait_phase GaitPhase

    api.actuator.servo.*

    Uses.

    Control

    API Request / Args Response
    servo_joint JointServoCommand BoolValue

    Rule.

    • direct actuation belongs here, not under manipulator or locomotion semantic-control API contracts

    api.sensor.camera.*

    Uses.

    Event

    API State Payload
    camera_info CameraInfo
    image_frame ImageFrame
    depth_frame DepthFrame

    api.localization.*

    Uses.

    Event

    API State Payload
    pose_estimate PoseEstimate
    localization_status LocalizationStatus

    api.mapping.*

    Uses.

    Event

    API State Payload
    occupancy_map OccupancyGridMap
    map_state MapStatus

    api.navigation.*

    Uses.

    Event

    API State Payload
    navigation_state NavigationState

    Procedure

    API Request / Args Response
    cancel_navigation Empty BoolValue

    Operation

    API Request / Args Feedback Result State
    navigate_to_pose navigation goal payload not stabilized not stabilized NavigationState
    follow_path path payload not stabilized not stabilized NavigationState

    Navigation Operation feedback/result payloads are intentionally not stabilized in the current public API contract. Implementations should treat those shapes as API contract extensions until a canonical message is published.

    api.perception.*

    Uses.

    Event

    API State Payload
    detections_2d detection array payload
    detections_3d detection array payload
    object_pose object pose estimate payload
    grasp_candidates grasp candidate array

    api.io.digital.input.*

    Procedure

    API Request / Args Response
    get_digital_input UInt32Value BoolValue

    api.io.digital.output.*

    Procedure

    API Request / Args Response
    set_digital_output IndexedBoolValue BoolValue
    get_digital_output UInt32Value BoolValue

    api.io.analog.*

    Procedure

    API Request / Args Response
    get_analog_input UInt32Value Float32Value
    set_analog_output IndexedFloat32Value BoolValue
    get_analog_output UInt32Value Float32Value

    api.capability.mobility.teleop.*

    Capability API behind capability.mobility.teleop.v1.

    Event

    API State Payload
    mobility_status capability status payload

    Procedure

    API Request / Args Response
    drive linear: float32
    lateral: float32
    angular: float32
    dt: float32
    frame_id: string    		 CapabilityResult
    stop Empty CapabilityResult

    api.capability.manipulation.reach.*

    Capability API behind capability.manipulation.reach.v1.

    Event

    API State Payload
    manipulation_status capability status payload

    Procedure

    API Request / Args Response
    extend extension?: float32 CapabilityResult
    shrink extension?: float32 CapabilityResult
    stow Empty CapabilityResult

    api.capability.manipulation.gripper.control.*

    Capability API behind capability.manipulation.gripper.control.v1.

    Event

    API State Payload
    gripper_status capability status payload

    Procedure

    API Request / Args Response
    open Empty CapabilityResult
    close Empty CapabilityResult

    api.capability.perception.trash_detection.*

    Capability API behind capability.perception.trash_detection.v1.

    Procedure

    API Request / Args Response
    scan mode: string
    max_range: float32
    fov_deg: float32    		 ScanResult

    api.capability.cleaning.trash_disposal.*

    Capability API behind capability.cleaning.trash_disposal.v1.

    Event

    API State Payload
    trash_disposal_status capability status payload

    Procedure

    API Request / Args Response
    collect_nearest max_range: float32 CapabilityResult
    burn Empty CapabilityResult

    api.robot.application.control.*

    Standard operator/frontend control surface for app-role subsystems. This API is not a robot capability and should not carry app-specific task commands.

    Procedure

    API Request / Args Response
    start Empty AppStatus
    stop Empty AppStatus
    status Empty AppStatus