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

    Message Index

    message means a typed payload schema.

    All public message namespaces start with msg..

    Builtin scalar types are not separate message namespaces. They are language-neutral scalar types reused by message fields.

    Scalar Meaning
    bool boolean scalar
    int32 signed 32-bit integer
    uint32 unsigned 32-bit integer
    int64 signed 64-bit integer
    float32 32-bit floating point
    float64 64-bit floating point
    string UTF-8 string
    bytes raw byte sequence

    msg.core.common.primitive.v1 is the wrapper-message namespace for named primitive payloads such as BoolValue, Int32Value, and TimestampNs.

    Namespace Summary

    Namespace Role Message count
    msg.core.common.primitive.v1 Canonical common wrapper and utility message set for primitive payloads and empty bodies. 18
    msg.core.diagnostics.v1 Canonical diagnostics message set shared by language-native logging implementations. 1
    msg.core.kinematics.v1 Canonical kinematics message set for robot-family-agnostic motion representations. 6
    msg.core.spatial.v1 Canonical shared spatial message set for base math types, semantic physical quantities, and rigid-body spatial quantities used across robotics domains. 11
    msg.core.state.v1 Canonical subsystem-runtime state message set shared across all subsystem roles. 2
    msg.core.timing.v1 Timing message set for synchronized and scheduled execution semantics. 2
    msg.actuator.servo.v1 Low-level servo and actuation payload message set. 1
    msg.locomotion.legged.v1 Legged locomotion payloads shared by quadruped and humanoid systems. 10
    msg.locomotion.mobile_base.v1 Canonical wheeled mobile-base payload family for platform state, odometry, safety state, and optional differential-drive helpers. 10
    msg.locomotion.velocity.v1 Canonical shared locomotion body-velocity payload family for timed exchange, acknowledgements, limits, and stop requests. 4
    msg.motion.articulated.v1 Articulated-motion payloads shared by jointed mechanisms. 1
    msg.motion.manipulator.v1 Canonical manipulator motion payloads built on shared articulated, spatial, and kinematic foundations. 7
    msg.sensor.camera.v1 Camera-sensor payload family for RGB/depth frame delivery and calibration metadata. 4
    msg.localization.v1 Localization payload family for self-pose estimation status. 2
    msg.mapping.v1 Mapping payload family for occupancy-style map publication. 2
    msg.navigation.v1 Navigation payload family for goal-based autonomous motion. 6
    msg.perception.v1 Perception payload family for object detection, pose estimation, and grasp planning outputs. 7

    This page is a compact index for canonical message namespaces and message names. It preserves stable anchors used by API contract references, generated SDKs, and the Web Console spec dictionary.

    Field-level definitions are intentionally not repeated here. The source YAML under spec/messages is the schema authority; use that YAML or the installed Spec Dictionary when inspecting nested fields and generated bindings.

    msg.core.common.primitive.v1

    Canonical common wrapper and utility message set for primitive payloads and empty bodies.

    • Source YAML - spec/messages/msg/core/common/primitive/v1.yaml
    • Canonical namespace path - msg/core/common/primitive/v1

    Messages - Empty - Explicit empty payload used instead of raw null or omitted bodies. - BoolValue - Canonical wrapped boolean payload. - Int32Value - Canonical wrapped int32 payload. - UInt32Value - Canonical wrapped uint32 payload. - UInt32Vector - Canonical wrapped uint32 vector payload. - Int64Value - Canonical wrapped int64 payload. - Float32Value - Canonical wrapped float32 payload. - Float32Vector - Canonical wrapped float32 vector payload. - Float64Value - Canonical wrapped float64 payload. - BoolVector - Canonical wrapped boolean vector payload. - StringValue - Canonical wrapped string payload. - BytesValue - Canonical wrapped bytes payload. - TimestampNs - Nanosecond timestamp wrapper used when a named scalar time payload is needed. - DurationNs - Nanosecond duration wrapper used when a named scalar duration payload is needed. - IndexedBoolValue - Generic indexed boolean payload used by channel-addressed interfaces such as digital IO. - IndexedFloat32Value - Generic indexed float32 payload used by channel-addressed interfaces such as analog IO. - IndexedBoolVector - Generic indexed boolean vector payload for batched channel-addressed updates. - IndexedFloat32Vector - Generic indexed float32 vector payload for batched channel-addressed updates.

    msg.core.diagnostics.v1

    Canonical diagnostics message set shared by language-native logging implementations.

    • Source YAML - spec/messages/msg/core/diagnostics/v1.yaml
    • Canonical namespace path - msg/core/diagnostics/v1

    Messages - LogRecord - Structured log record for optional Librux log event publishing and remote diagnostics.

    msg.core.kinematics.v1

    Canonical kinematics message set for robot-family-agnostic motion representations.

    • Source YAML - spec/messages/msg/core/kinematics/v1.yaml
    • Canonical namespace path - msg/core/kinematics/v1

    Messages - JointValues - Generic joint vector for an articulated chain. - JointLimits - Limit values for a single articulated joint. - JointState - Measured joint state for an articulated chain. - JointVelocity - Joint-space velocity command for an articulated chain. - JointCommand - Commanded joint targets for an articulated chain. - KinematicChainState - Combined articulated-chain state with task-space pose and twist.

    msg.core.spatial.v1

    Canonical shared spatial message set for base math types, semantic physical quantities, and rigid-body spatial quantities used across robotics domains.

    • Source YAML - spec/messages/msg/core/spatial/v1.yaml
    • Canonical namespace path - msg/core/spatial/v1

    Messages - Vector3 - Generic free 3-axis vector used when the surrounding type carries the semantics of the quantity. - Quaternion - Quaternion orientation expressed as x, y, z, w. - Position - 3D position point in meters, kept separate from Vector3 because it represents a location rather than a free vector. - Pose - Rigid pose of a reference frame or rigid body, expressed as a position point and a quaternion orientation. - Covariance6x6 - Fixed 6x6 covariance matrix container for spatial estimates. - Force - 3-axis linear force. Field names stay x, y, z because the surrounding type already carries the physical meaning. - Torque - 3-axis torque (moment) vector. Field names stay x, y, z; angular meaning comes from the surrounding type rather than rx, ry, rz naming. - Wrench - Rigid-body wrench composed of a force vector and a torque vector, expressed in an optional frame. - Twist - Rigid-body spatial velocity, combining the linear velocity of a reference point with the angular velocity of the same rigid body in a common frame. - Accel - Rigid-body spatial acceleration, combining linear and angular acceleration in a common frame. - Inertia - Symmetric inertia tensor components about a common reference.

    msg.core.state.v1

    Canonical subsystem-runtime state message set shared across all subsystem roles.

    • Source YAML - spec/messages/msg/core/state/v1.yaml
    • Canonical namespace path - msg/core/state/v1

    Messages - LifecycleState - High-level lifecycle phase of a subsystem expressed as a canonical string keyword. - HealthState - Health summary state of a subsystem expressed as a canonical string keyword.

    msg.core.timing.v1

    Timing message set for synchronized and scheduled execution semantics.

    • Source YAML - spec/messages/msg/core/timing/v1.yaml
    • Canonical namespace path - msg/core/timing/v1

    Messages - ExecutionDirective - User-facing and runtime-facing timing directive for normalized timed execution. - ExecutionReport - Runtime-side scheduling and execution report attached to a timed exchange response.

    msg.actuator.servo.v1

    Low-level servo and actuation payload message set.

    • Source YAML - spec/messages/msg/actuator/servo/v1.yaml
    • Canonical namespace path - msg/actuator/servo/v1

    Messages - JointServoCommand - Low-level joint-space servo command for actuation-oriented control paths.

    msg.locomotion.legged.v1

    Legged locomotion payloads shared by quadruped and humanoid systems.

    • Source YAML - spec/messages/msg/locomotion/legged/v1.yaml
    • Canonical namespace path - msg/locomotion/legged/v1

    Messages - ContactState - Contact state for a single support/contact point. - ContactArray - Aggregated contact state payload for a locomotion system. - FootPose - Named foothold or end-effector pose used by locomotion controllers. - FootState - State for a locomotion contact point or foot endpoint. - SupportPolygon - Support polygon expressed as planar points in body or world coordinates. - StepTarget - Foothold target for a locomotion contact point. - BodyState - Locomotion body state independent of concrete robot morphology. - CenterOfMassState - Center-of-mass state for balance and locomotion control. - BalanceState - High-level balance indicators shared by legged systems. - GaitPhase - Named gait phase for locomotion sequencing.

    msg.locomotion.mobile_base.v1

    Canonical wheeled mobile-base payload family for platform state, odometry, safety state, and optional differential-drive helpers.

    • Source YAML - spec/messages/msg/locomotion/mobile_base/v1.yaml
    • Canonical namespace path - msg/locomotion/mobile_base/v1

    Messages - ControllerModeState - Active operating mode of a wheeled mobile-base controller. - MobileBaseState - Runtime state of a mobile-base controller. - FaultState - Fault summary for a mobile-base controller. - Odometry - Estimated body pose and twist for a wheeled platform. - EnableDriveRequest - Request to enable or keep disabled the mobile-base drive. - DisableDriveRequest - Request to disable mobile-base drive output. - ClearFaultRequest - Request to clear a latched mobile-base fault. - DiffDriveKinematics - Differential-drive geometric and wheel-speed limits. - WheelCommand - Differential-drive wheel velocity command. - WheelState - Differential-drive wheel position and velocity state.

    msg.locomotion.velocity.v1

    Canonical shared locomotion body-velocity payload family for timed exchange, acknowledgements, limits, and stop requests.

    • Source YAML - spec/messages/msg/locomotion/velocity/v1.yaml
    • Canonical namespace path - msg/locomotion/velocity/v1

    Messages - VelocityCommand - Timed body-velocity command for a locomotion controller. - CommandAck - Acknowledgement for locomotion control and procedure requests. - VelocityLimits - Runtime velocity and acceleration limits for locomotion velocity control. - StopRequest - Controlled stop request for a locomotion controller.

    msg.motion.articulated.v1

    Articulated-motion payloads shared by jointed mechanisms.

    • Source YAML - spec/messages/msg/motion/articulated/v1.yaml
    • Canonical namespace path - msg/motion/articulated/v1

    Messages - JointWayPoint - Joint-space waypoint and motion tuning values for articulated motion.

    msg.motion.manipulator.v1

    Canonical manipulator motion payloads built on shared articulated, spatial, and kinematic foundations.

    • Source YAML - spec/messages/msg/motion/manipulator/v1.yaml
    • Canonical namespace path - msg/motion/manipulator/v1

    Messages - TCP - Tool center point definition. - Payload - Tool payload definition. - TaskWayPoint - Cartesian waypoint and motion tuning values for tool- or TCP-oriented manipulation. - ToolSettings - Combined payload and TCP tool definition. - MotionFeedback - Generic feedback state for long-running manipulator motion. - MotionState - Manipulator motion state for state publication and action state reporting. - MotionResult - Generic result body for manipulator motion completion.

    msg.sensor.camera.v1

    Camera-sensor payload family for RGB/depth frame delivery and calibration metadata.

    • Source YAML - spec/messages/msg/sensor/camera/v1.yaml
    • Canonical namespace path - msg/sensor/camera/v1

    Messages - CameraIntrinsics - Pinhole-style intrinsic calibration parameters for a camera stream. - CameraInfo - Camera stream metadata and intrinsic calibration. - ImageFrame - Generic image frame payload for camera-based observation streams. - DepthFrame - Depth image frame with explicit meter-per-unit scaling.

    msg.localization.v1

    Localization payload family for self-pose estimation status.

    • Source YAML - spec/messages/msg/localization/v1.yaml
    • Canonical namespace path - msg/localization/v1

    Messages - PoseEstimate - Estimated robot pose with spatial uncertainty. - LocalizationStatus - Summary state for a localization subsystem.

    msg.mapping.v1

    Mapping payload family for occupancy-style map publication.

    • Source YAML - spec/messages/msg/mapping/v1.yaml
    • Canonical namespace path - msg/mapping/v1

    Messages - OccupancyGridMap - Occupancy-grid style map payload for mapping publication. - MapStatus - Summary status for a mapping subsystem.

    msg.navigation.v1

    Navigation payload family for goal-based autonomous motion.

    • Source YAML - spec/messages/msg/navigation/v1.yaml
    • Canonical namespace path - msg/navigation/v1

    Messages - NavigationPath - Ordered path as a sequence of target poses. - NavigateToPoseRequest - Goal request for autonomous navigation to a single pose. - FollowPathRequest - Goal request for following an explicit path. - NavigationFeedback - Progress feedback for a running navigation task. - NavigationResult - Result body for a completed navigation task. - NavigationState - Summary state for a navigation subsystem or running goal.

    msg.perception.v1

    Perception payload family for object detection, pose estimation, and grasp planning outputs.

    • Source YAML - spec/messages/msg/perception/v1.yaml
    • Canonical namespace path - msg/perception/v1

    Messages - BoundingBox2D - Image-plane bounding box for a 2D detection. - Detection2D - Single 2D detection result from a perception subsystem. - Detection2DArray - Collection of 2D detections for one frame. - ObjectPose - Estimated object pose in a named frame. - ObjectPoseArray - Collection of object-pose estimates for one observation step. - GraspCandidate - Candidate grasp pose estimated from perception output. - GraspCandidateArray - Ranked grasp candidates for a target object or scene.