能力约定参考（自动生成）
由 robonix v0.1.0 · commit 953df33-dirty · 2026-06-05 自动生成，请勿手改。重新生成：
rbnx docs。
本页罗列 capabilities/ 下的所有标准能力约定（共 57 条）。
载荷列链到对应的 ROS IDL。概念与字段含义见 接口目录。
primitive
| 能力约定 ID | kind | mode | 载荷（IDL） | 能力约定 TOML |
|---|---|---|---|---|
robonix/primitive/audio/driver | primitive | rpc | lifecycle/srv/Driver.srv | primitive/audio/driver.v1.toml |
robonix/primitive/audio/list_devices | primitive | rpc | audio/srv/ListAudioDevices.srv | primitive/audio/list_devices.v1.toml |
robonix/primitive/audio/mic | primitive | topic_out | audio/msg/AudioChunk.msg | primitive/audio/mic.v1.toml |
robonix/primitive/audio/select_device | primitive | rpc | audio/srv/SelectAudioDevice.srv | primitive/audio/select_device.v1.toml |
robonix/primitive/audio/speaker | primitive | topic_in | audio/msg/AudioChunk.msg | primitive/audio/speaker.v1.toml |
robonix/primitive/camera/depth | primitive | topic_out | common_interfaces/sensor_msgs/msg/Image.msg | primitive/camera/depth.v1.toml |
robonix/primitive/camera/depth_snapshot | primitive | rpc | camera/srv/GetCameraImage.srv | primitive/camera/depth_snapshot.v1.toml |
robonix/primitive/camera/driver | primitive | rpc | lifecycle/srv/Driver.srv | primitive/camera/driver.v1.toml |
robonix/primitive/camera/extrinsics | primitive | topic_out | common_interfaces/geometry_msgs/msg/TransformStamped.msg | primitive/camera/extrinsics.v1.toml |
robonix/primitive/camera/rgb | primitive | topic_out | common_interfaces/sensor_msgs/msg/Image.msg | primitive/camera/rgb.v1.toml |
robonix/primitive/camera/snapshot | primitive | rpc | camera/srv/GetCameraImage.srv | primitive/camera/snapshot.v1.toml |
robonix/primitive/chassis/driver | primitive | rpc | lifecycle/srv/Driver.srv | primitive/chassis/driver.v1.toml |
robonix/primitive/chassis/move | primitive | rpc | chassis/srv/ExecuteMoveCommand.srv | primitive/chassis/move.v1.toml |
robonix/primitive/chassis/odom | primitive | topic_out | common_interfaces/nav_msgs/msg/Odometry.msg | primitive/chassis/odom.v1.toml |
robonix/primitive/chassis/twist_in | primitive | topic_in | common_interfaces/geometry_msgs/msg/Twist.msg | primitive/chassis/twist_in.v1.toml |
robonix/primitive/imu/driver | primitive | rpc | lifecycle/srv/Driver.srv | primitive/imu/driver.v1.toml |
robonix/primitive/imu/imu | primitive | topic_out | common_interfaces/sensor_msgs/msg/Imu.msg | primitive/imu/imu.v1.toml |
robonix/primitive/lidar/driver | primitive | rpc | lifecycle/srv/Driver.srv | primitive/lidar/driver.v1.toml |
robonix/primitive/lidar/lidar | primitive | topic_out | common_interfaces/sensor_msgs/msg/LaserScan.msg | primitive/lidar/lidar.v1.toml |
robonix/primitive/lidar/lidar3d | primitive | topic_out | common_interfaces/sensor_msgs/msg/PointCloud2.msg | primitive/lidar/lidar3d.v1.toml |
robonix/primitive/lidar/snapshot | primitive | rpc | lidar/srv/GetLaserScan.srv | primitive/lidar/lidar_snapshot.v1.toml |
service
| 能力约定 ID | kind | mode | 载荷（IDL） | 能力约定 TOML |
|---|---|---|---|---|
robonix/service/map/driver | service | rpc | lifecycle/srv/Driver.srv | service/map/driver.v1.toml |
robonix/service/map/occupancy_grid | service | topic_out | common_interfaces/nav_msgs/msg/OccupancyGrid.msg | service/map/occupancy_grid.v1.toml |
robonix/service/map/odom | service | topic_out | common_interfaces/nav_msgs/msg/Odometry.msg | service/map/odom.v1.toml |
robonix/service/map/pointcloud | service | topic_out | common_interfaces/sensor_msgs/msg/PointCloud2.msg | service/map/pointcloud.v1.toml |
robonix/service/map/pose | service | topic_out | common_interfaces/geometry_msgs/msg/PoseWithCovarianceStamped.msg | service/map/pose.v1.toml |
robonix/service/memory/compact | service | rpc | memory/srv/Compact.srv | service/memory/compact.v1.toml |
robonix/service/memory/save | service | rpc | memory/srv/Save.srv | service/memory/save.v1.toml |
robonix/service/memory/search | service | rpc | memory/srv/Search.srv | service/memory/search.v1.toml |
robonix/service/navigation/cancel | service | rpc | navigation/srv/CancelNavigation.srv | service/navigation/cancel.v1.toml |
robonix/service/navigation/driver | service | rpc | lifecycle/srv/Driver.srv | service/navigation/driver.v1.toml |
robonix/service/navigation/navigate | service | rpc | navigation/srv/Navigate.srv | service/navigation/navigate.v1.toml |
robonix/service/navigation/status | service | rpc | navigation/srv/GetNavigationStatus.srv | service/navigation/status.v1.toml |
robonix/service/speech/asr | service | rpc | asr/srv/Recognize.srv | service/speech/asr.v1.toml |
robonix/service/speech/asr_stream | service | rpc_bidirectional_stream | asr/srv/RecognizeStream.srv | service/speech/asr_stream.v1.toml |
robonix/service/speech/dialog | service | rpc_server_stream | speech/srv/StartDialog.srv | service/speech/dialog.v1.toml |
robonix/service/speech/driver | service | rpc | lifecycle/srv/Driver.srv | service/speech/driver.v1.toml |
robonix/service/speech/list_speakers | service | rpc | speech/srv/ListSpeakers.srv | service/speech/list_speakers.v1.toml |
robonix/service/speech/speak | service | rpc | speech/srv/Speak.srv | service/speech/speak.v1.toml |
robonix/service/speech/tts | service | rpc | tts/srv/Synthesize.srv | service/speech/tts.v1.toml |
robonix/service/speech/tts_stream | service | rpc_server_stream | tts/srv/SynthesizeStream.srv | service/speech/tts_stream.v1.toml |
robonix/service/voiceprint/delete | service | rpc | voiceprint/srv/DeleteEnrolled.srv | service/voiceprint/delete.v1.toml |
robonix/service/voiceprint/enroll | service | rpc | voiceprint/srv/Enroll.srv | service/voiceprint/enroll.v1.toml |
robonix/service/voiceprint/identify | service | rpc | voiceprint/srv/Identify.srv | service/voiceprint/identify.v1.toml |
robonix/service/voiceprint/list | service | rpc | voiceprint/srv/ListEnrolled.srv | service/voiceprint/list.v1.toml |
system
| 能力约定 ID | kind | mode | 载荷（IDL） | 能力约定 TOML |
|---|---|---|---|---|
robonix/system/executor | service | rpc_server_stream | executor/srv/Execute.srv | system/executor.v1.toml |
robonix/system/liaison/submit | system | rpc_server_stream | liaison/srv/SubmitTask.srv | system/liaison/submit.v1.toml |
robonix/system/liaison/voice | system | rpc_server_stream | liaison/srv/StartVoiceSession.srv | system/liaison/voice.v1.toml |
robonix/system/pilot | service | rpc_server_stream | pilot/srv/SubmitTask.srv | system/pilot.v1.toml |
robonix/system/scene/get_object_context | service | rpc | semantic_map/srv/GetObjectContext.srv | system/scene/get_object_context.v1.toml |
robonix/system/scene/get_scene_graph | service | rpc | semantic_map/srv/GetSceneGraph.srv | system/scene/get_scene_graph.v1.toml |
robonix/system/scene/goal_near | service | rpc | semantic_map/srv/GoalNear.srv | system/scene/goal_near.v1.toml |
robonix/system/scene/list_objects | service | rpc | semantic_map/srv/ListObjects.srv | system/scene/list_objects.v1.toml |
robonix/system/scene/list_relations | service | rpc | semantic_map/srv/ListRelations.srv | system/scene/list_relations.v1.toml |
robonix/system/soma/description | service | rpc | soma/srv/GetDescription.srv | system/soma/description.v1.toml |
robonix/system/soma/footprint | service | rpc | soma/srv/GetFootprint.srv | system/soma/footprint.v1.toml |
robonix/system/soma/sensor_extrinsics | service | rpc | soma/srv/GetSensorExtrinsics.srv | system/soma/sensor_extrinsics.v1.toml |