ROS API

Interface Types:

• Messages - Message definition structures

• Topics - Data publication/subscription interfaces

• Services - Request/response interfaces

• Actions - Long-running goal-based interfaces

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Enumeration Messages

Message	Description
AgvStations	AGV station location constants
CellTypes	Cell type definitions and voltage constants
CompetitionStates	Competition state enumeration values
OperationStates	Operation state definitions
VacuumTools	Vacuum gripper tool type definitions

Data Structure Messages

Message	Description
CellDefect	Cell defect information structure
CompetitionTime	Competition timing data structure
InspectionReport	Inspection result data structure

Competition Control Interfaces

Interface	Description
/competition_status	Query competition state, time, order counts
/high_priority_orders	High priority kit requests with order ID
/start_competition	Starts the competition
/end_competition	Ends competition, optionally shutdown Gazebo
/submit_kitting_order	Submit kit (AGV at shipping required)
/submit_module_order	Submit module (in submission zone required)
/submit_high_priority_order	Submit high priority kit with ID

Task 1 Interfaces

Interface	Description
/inspection_conveyor/status	Conveyor direction, speed, operating status
/inspection_conveyor/cell_feed/status	Current cell type being fed and feed rate
/voltage_tester_1/voltage	Voltage reading for tester 1
/voltage_tester_2/voltage	Voltage reading for tester 2
/inspection_conveyor/cell_feed/control	Change cell type being fed
/inspection_conveyor/inspection/submit	Submit inspection with pass/fail and defects

Task 2 Interfaces

Interface	Description
/assembly_conveyor/section_{number}/status	Section direction, speed, status
/assembly_conveyor/section_1/control	Control conveyor section 1
/assembly_conveyor/section_2/control	Control conveyor section 2
/assembly_conveyor/section_3/control	Control bidirectional conveyor section 3
/gantry_welder/weld	Create weld if electrodes contact plate
/insert_bottom_shell	Spawn bottom shell on section 1
/insert_top_shell	Spawn top shell on assembly table

Robot Control Interfaces

Joint Control

Interface	Description
/{robot_name}/joint_states	Current joint states
/{robot_name}/joint_trajectory_controller/follow_joint_trajectory	Joint trajectory commands

Gripper Control

Interface	Description
/{robot_name}/gripper_controller/gripper_command	Control gripper width

Vacuum Tool Control

Interface	Description
/assembly_robot_2/tool_changer/status	Tool changer current state and status
/assembly_robot_2/tool_changer/attach_tool	Attach specified tool to robot, must be in correct position
/assembly_robot_2/tool_changer/detach_tool	Detach tool from robot
/vacuum_tool/vg_2/grasp	Grasp object with vg_2, requires contact with object
/vacuum_tool/vg_2/release	Detach object from vg_2
/vacuum_tool/vg_4/grasp	Grasp object with vg_4, requires contact with object
/vacuum_tool/vg_4/release	Detach object from vg_4

AGV Control Interfaces

Interface	Description
/{agv_name}/info	Current location and pose
/{agv_name}/tray_status	Tray occupancy and part information
/{agv_name}/recycle_cells	Recycle tray at recycling station
/{agv_name}/move	Move AGV to specified station

Sensor Interfaces

Note

The sensor name is defined by the team in their configuration file

Break Beam Sensors

Interface	Description
/{break_beam_name}/status	Reports if an object is detected with a timestamp
/{break_beam_name}/change	Publishes when the breakbeam status changes

Distance Sensors

Interface	Description
/{distance_sensor_name}/distance	Reports a distance to the first object in view with a timestamp

Camera Sensors

Interface	Description
/{camera_name}/image	Displays current image seen through camera
/{camera_name}/info	Info about camera sensor

Lidar Sensors

Interface	Description
/{lidar_name}/scan	Reports the point cloud detected from the lidar scan