Skip to content
Librux Runtime Kernel for Robotics development
Librux Runtime Kernel for Robotics development

    Domain Coverage

    This page defines the canonical Librux domain structure.

    Namespace Structure

    Layer Namespace family Meaning
    message msg.core.* shared robotics and runtime-neutral concepts
    message msg.motion.* articulated and manipulator motion payloads
    message msg.locomotion.* locomotion payloads
    message msg.actuator.* lower-level actuator payloads
    message msg.sensor.* sensor payloads
    message msg.localization.* localization payloads
    message msg.mapping.* mapping payloads
    message msg.navigation.* navigation payloads
    message msg.perception.* perception payloads
    API contract api.motion.* motion endpoint contracts
    API contract api.locomotion.* locomotion endpoint contracts
    API contract api.actuator.* actuator endpoint contracts
    API contract api.sensor.* sensor endpoint contracts
    API contract api.io.* digital and analog I/O endpoint contracts
    API contract api.localization.* localization endpoint contracts
    API contract api.mapping.* mapping endpoint contracts
    API contract api.navigation.* navigation endpoint contracts
    API contract api.perception.* perception endpoint contracts
    API contract api.robot.* robot-level capability and application endpoint contracts
    capability capability.* app-facing robot capability contracts
    component component.* component-role subsystem compatibility bundles

    Manipulator

    Manipulator support is organized as articulated motion plus manipulator-specific task-space and tooling semantics.

    API Contracts

    API Contract Meaning Typical endpoints
    api.motion.articulated.state.* observed joint-space state joint_state
    api.motion.articulated.velocity.* periodic joint-space control joint_velocity
    api.motion.articulated.trajectory.* programmed joint-space motion move_j, stop, pause, resume
    api.motion.manipulator.state.* observed tool and task-space state tool_pose, motion_state, tool_settings
    api.motion.manipulator.velocity.* periodic TCP-space control tcp_velocity
    api.motion.manipulator.cartesian.* programmed Cartesian motion move_l, move_c
    api.motion.manipulator.tooling.* tool and payload control set_tcp, set_payload

    Components

    Component Conformance API contracts
    component.manipulator.v1 articulated state, articulated velocity, articulated trajectory, manipulator state, manipulator cartesian, manipulator tooling

    Mobile Base

    For mobile robots, Librux separates locomotion, localization, mapping, and navigation into distinct namespaces and component bundles.

    API Contracts

    API Contract Meaning Typical endpoints
    api.locomotion.velocity.* generic timed body-velocity control velocity_command, set_velocity_limits, get_velocity_limits, stop
    api.locomotion.mobile_base.state.* wheeled-platform state and drive authority mobile_base_state, fault_state, enable_drive, disable_drive, clear_fault
    api.locomotion.odometry.* mobile-base odometry publication odometry
    api.locomotion.diff_drive.* optional differential-drive wheel surface wheel_command, wheel_state, get_diff_drive_kinematics
    api.localization.* self-localization pose_estimate, localization status
    api.mapping.* map production and publication occupancy_map, map_state
    api.navigation.* autonomous path/goal execution navigate_to_pose, follow_path, navigation_state

    Components

    Component Conformance API contracts
    component.mobile_base.v1 locomotion velocity, mobile-base state
    component.mobile_base.localized.v1 locomotion velocity, mobile-base state, localization
    component.mobile_base.autonomous.v1 locomotion velocity, mobile-base state, localization, navigation

    Gateway Domains

    Gateway subsystems expose hardware aggregation roles behind Librux API contracts.

    API Contracts

    Gateway contract Meaning
    api.actuator.servo.v1 actuator servo
    api.io.digital.input.v1 digital input
    api.io.digital.output.v1 digital output
    api.io.analog.v1 analog I/O
    api.sensor.camera.v1 camera sensor

    Capability Domains

    Capabilities are app-facing contracts provided by compound subsystems. They are not bypasses around components; they are robot-level operations and events built from the gateway and component APIs inside the platform.

    Capability Backing API
    capability.mobility.teleop.v1 api.capability.mobility.teleop.v1
    capability.manipulation.reach.v1 api.capability.manipulation.reach.v1
    capability.manipulation.gripper.control.v1 api.capability.manipulation.gripper.control.v1
    capability.perception.trash_detection.v1 api.capability.perception.trash_detection.v1
    capability.cleaning.trash_disposal.v1 api.capability.cleaning.trash_disposal.v1

    For the canonical definitions, see.