能力约定参考（自动生成）
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本页罗列 capabilities/ 下的所有标准能力约定（共 98 条）。
载荷列链到对应的 ROS IDL。概念与字段含义见 接口目录。
后向兼容：已有命名空间 Driver
下表只记录仍由旧软件包自行维护的命名空间 Driver 和 Driver TOML。这些能力约定目前仍可使用，但计划迁移到共享 robonix/lifecycle/driver；同一提供方不能同时注册两种 Driver。维护和迁移步骤见软件包与部署清单规范。
| 能力约定 ID | 接口含义 | kind | mode | 载荷（IDL） | 能力约定 TOML |
|---|---|---|---|---|---|
robonix/primitive/arm/driver | Legacy-compatible lifecycle interface for arm primitive providers. | primitive | rpc | lifecycle/srv/Driver.srv | primitive/arm/driver.v1.toml |
robonix/primitive/audio/driver | Legacy-compatible lifecycle interface for audio primitive providers. | primitive | rpc | lifecycle/srv/Driver.srv | primitive/audio/driver.v1.toml |
robonix/primitive/camera/driver | Legacy-compatible lifecycle interface for camera primitive providers. | primitive | rpc | lifecycle/srv/Driver.srv | primitive/camera/driver.v1.toml |
robonix/primitive/chassis/driver | Legacy-compatible lifecycle interface for chassis primitive providers. | primitive | rpc | lifecycle/srv/Driver.srv | primitive/chassis/driver.v1.toml |
robonix/primitive/health/driver | Legacy-compatible lifecycle interface for health primitive providers. | primitive | rpc | lifecycle/srv/Driver.srv | primitive/health/driver.v1.toml |
robonix/primitive/imu/driver | Legacy-compatible lifecycle interface for IMU primitive providers. | primitive | rpc | lifecycle/srv/Driver.srv | primitive/imu/driver.v1.toml |
robonix/primitive/lidar/driver | Legacy-compatible lifecycle interface for lidar primitive providers. | primitive | rpc | lifecycle/srv/Driver.srv | primitive/lidar/driver.v1.toml |
robonix/primitive/robot_description/driver | Legacy-compatible lifecycle interface for robot-description primitive providers. | primitive | rpc | lifecycle/srv/Driver.srv | primitive/robot_description/driver.v1.toml |
robonix/service/map/driver | Legacy-compatible lifecycle interface for map service providers. | service | rpc | lifecycle/srv/Driver.srv | service/map/driver.v1.toml |
robonix/service/memory/driver | Legacy-compatible lifecycle interface for memory service providers. | service | rpc | lifecycle/srv/Driver.srv | service/memory/driver.v1.toml |
robonix/service/navigation/driver | Legacy-compatible lifecycle interface for navigation service providers. | service | rpc | lifecycle/srv/Driver.srv | service/navigation/driver.v1.toml |
robonix/service/speech/driver | Legacy-compatible lifecycle interface for speech service providers. | service | rpc | lifecycle/srv/Driver.srv | service/speech/driver.v1.toml |
robonix/service/voiceprint/driver | Legacy-compatible lifecycle and configuration interface for Voiceprint providers. | service | rpc | lifecycle/srv/Driver.srv | service/voiceprint/driver.v1.toml |
primitive
| 能力约定 ID | 接口含义 | kind | mode | 载荷（IDL） | 能力约定 TOML |
|---|---|---|---|---|---|
robonix/primitive/arm/end_pose | Measured end-effector pose in the arm provider's documented base frame. | primitive | topic_out | common_interfaces/geometry_msgs/msg/Pose.msg | primitive/arm/end_pose.v1.toml |
robonix/primitive/arm/joint_command | Named arm and gripper joint command input using standard JointState units. | primitive | topic_in | common_interfaces/sensor_msgs/msg/JointState.msg | primitive/arm/joint_command.v1.toml |
robonix/primitive/arm/joint_states | Measured arm and gripper joint positions, velocities, and efforts. | primitive | topic_out | common_interfaces/sensor_msgs/msg/JointState.msg | primitive/arm/joint_states.v1.toml |
robonix/primitive/arm/pos_command | Target end-effector pose input in the arm provider's documented base frame. | primitive | topic_in | common_interfaces/geometry_msgs/msg/Pose.msg | primitive/arm/pos_command.v1.toml |
robonix/primitive/audio/bridge_info | Discover the reverse client-audio endpoint exposed by an audio bridge provider. | primitive | rpc | audio/srv/GetAudioBridgeInfo.srv | primitive/audio/bridge_info.v1.toml |
robonix/primitive/audio/list_devices | List audio input and output devices visible to the audio primitive. | primitive | rpc | audio/srv/ListAudioDevices.srv | primitive/audio/list_devices.v1.toml |
robonix/primitive/audio/mic | Continuous microphone audio stream produced by an audio input primitive. | primitive | topic_out | audio/msg/AudioChunk.msg | primitive/audio/mic.v1.toml |
robonix/primitive/audio/select_device | Select the active audio input or output device used by an audio primitive. | primitive | rpc | audio/srv/SelectAudioDevice.srv | primitive/audio/select_device.v1.toml |
robonix/primitive/audio/speaker | Audio playback stream consumed by an audio output primitive. | primitive | topic_in | audio/msg/AudioChunk.msg | primitive/audio/speaker.v1.toml |
robonix/primitive/camera/depth | Continuous depth image stream from a camera primitive. | primitive | topic_out | common_interfaces/sensor_msgs/msg/Image.msg | primitive/camera/depth.v1.toml |
robonix/primitive/camera/depth_snapshot | Capture one depth image frame on demand. | primitive | rpc | camera/srv/GetCameraImage.srv | primitive/camera/depth_snapshot.v1.toml |
robonix/primitive/camera/extrinsics | Compatibility static transform from the robot body frame to the camera optical frame when TF is unavailable. | primitive | topic_out | common_interfaces/geometry_msgs/msg/TransformStamped.msg | primitive/camera/extrinsics.v1.toml |
robonix/primitive/camera/intrinsics | Camera calibration and image geometry used for projection and 3D reconstruction. | primitive | topic_out | common_interfaces/sensor_msgs/msg/CameraInfo.msg | primitive/camera/intrinsics.v1.toml |
robonix/primitive/camera/rgb | Continuous RGB image stream from a camera primitive. | primitive | topic_out | common_interfaces/sensor_msgs/msg/Image.msg | primitive/camera/rgb.v1.toml |
robonix/primitive/camera/snapshot | Capture one RGB image frame on demand. | primitive | rpc | camera/srv/GetCameraImage.srv | primitive/camera/snapshot.v1.toml |
robonix/primitive/chassis/move | Low-level bounded chassis motion command without global path planning. | primitive | rpc | chassis/srv/ExecuteMoveCommand.srv | primitive/chassis/move.v1.toml |
robonix/primitive/chassis/odom | Raw chassis odometry in the local odom frame. | primitive | topic_out | common_interfaces/nav_msgs/msg/Odometry.msg | primitive/chassis/odom.v1.toml |
robonix/primitive/chassis/twist_in | Velocity command input consumed by a chassis controller. | primitive | topic_in | common_interfaces/geometry_msgs/msg/Twist.msg | primitive/chassis/twist_in.v1.toml |
robonix/primitive/health/state | - | primitive | rpc | health/srv/GetHealthState.srv | primitive/health/state.v1.toml |
robonix/primitive/health/stream | - | primitive | rpc_server_stream | health/srv/StreamHealthState.srv | primitive/health/stream.v1.toml |
robonix/primitive/imu/imu | Continuous inertial measurement stream from an IMU primitive. | primitive | topic_out | common_interfaces/sensor_msgs/msg/Imu.msg | primitive/imu/imu.v1.toml |
robonix/primitive/lidar/lidar | Continuous 2D laser scan stream from a lidar primitive. | primitive | topic_out | common_interfaces/sensor_msgs/msg/LaserScan.msg | primitive/lidar/lidar.v1.toml |
robonix/primitive/lidar/lidar3d | Continuous 3D point cloud stream from a lidar primitive. | primitive | topic_out | common_interfaces/sensor_msgs/msg/PointCloud2.msg | primitive/lidar/lidar3d.v1.toml |
robonix/primitive/lidar/snapshot | Capture one 2D laser scan on demand. | primitive | rpc | lidar/srv/GetLaserScan.srv | primitive/lidar/lidar_snapshot.v1.toml |
service
| 能力约定 ID | 接口含义 | kind | mode | 载荷（IDL） | 能力约定 TOML |
|---|---|---|---|---|---|
robonix/service/map/delete_map | Delete a saved map and its persisted artifacts by map id. | service | rpc | map/srv/DeleteMap.srv | service/map/delete_map.v1.toml |
robonix/service/map/get_mode | Read whether the map service is currently mapping or localizing. | service | rpc | map/srv/GetMode.srv | service/map/get_mode.v1.toml |
robonix/service/map/get_pose | Read the robot pose in the map frame as scalar x, y, and yaw. | service | rpc | map/srv/GetPose.srv | service/map/get_pose.v1.toml |
robonix/service/map/lifecycle | Latched map identity and lifecycle events (map_id, mode, generation) from the mapping service. | service | topic_out | map/msg/MapLifecycle.msg | service/map/lifecycle.v1.toml |
robonix/service/map/list_maps | List saved maps and metadata available for load/delete. | service | rpc | map/srv/ListMaps.srv | service/map/list_maps.v1.toml |
robonix/service/map/load_map | Load a saved map for localization or continued mapping. | service | rpc | map/srv/LoadMap.srv | service/map/load_map.v1.toml |
robonix/service/map/occupancy_grid | 2D occupancy grid output produced by the mapping service. | service | topic_out | common_interfaces/nav_msgs/msg/OccupancyGrid.msg | service/map/occupancy_grid.v1.toml |
robonix/service/map/odom | Continuous SLAM or localization odometry suitable for controllers. | service | topic_out | common_interfaces/nav_msgs/msg/Odometry.msg | service/map/odom.v1.toml |
robonix/service/map/pointcloud | Registered world-frame point cloud output from the mapping service. | service | topic_out | common_interfaces/sensor_msgs/msg/PointCloud2.msg | service/map/pointcloud.v1.toml |
robonix/service/map/pose | Canonical map-frame robot pose produced by localization or SLAM. | service | topic_out | common_interfaces/geometry_msgs/msg/PoseWithCovarianceStamped.msg | service/map/pose.v1.toml |
robonix/service/map/pose_estimate | Seed or reset localization with a map-frame pose estimate. | service | rpc | map/srv/PoseEstimate.srv | service/map/pose_estimate.v1.toml |
robonix/service/map/reset_map | Clear the live map state without deleting persisted maps. | service | rpc | map/srv/ResetMap.srv | service/map/reset_map.v1.toml |
robonix/service/map/save_map | Persist the current map under a stable map id. | service | rpc | map/srv/SaveMap.srv | service/map/save_map.v1.toml |
robonix/service/map/switch_mode | Switch the running map service between mapping and localization modes. | service | rpc | map/srv/SwitchMode.srv | service/map/switch_mode.v1.toml |
robonix/service/memory/compact | Compact long-term memory into a shorter summary. | service | rpc | memory/srv/Compact.srv | service/memory/compact.v1.toml |
robonix/service/memory/save | Persist a fact, preference, or note into long-term memory. | service | rpc | memory/srv/Save.srv | service/memory/save.v1.toml |
robonix/service/memory/search | Search long-term memory for entries relevant to a query. | service | rpc | memory/srv/Search.srv | service/memory/search.v1.toml |
robonix/service/navigation/navigate | Navigate the robot to a target pose using planning and obstacle avoidance. | service | rpc | navigation/srv/Navigate.srv | service/navigation/navigate.v1.toml |
robonix/service/navigation/navigate/cancel | Cancel a previously accepted navigation run. | service | rpc | navigation/srv/CancelNavigation.srv | service/navigation/navigate/cancel.v1.toml |
robonix/service/navigation/navigate/status | Read status for a previously accepted navigation run. | service | rpc | navigation/srv/GetNavigationStatus.srv | service/navigation/navigate/status.v1.toml |
robonix/service/speech/asr | Recognize speech from one audio buffer. | service | rpc | asr/srv/Recognize.srv | service/speech/asr.v1.toml |
robonix/service/speech/asr_stream | Streaming speech recognition over an audio chunk stream. | service | rpc_bidirectional_stream | asr/srv/RecognizeStream.srv | service/speech/asr_stream.v1.toml |
robonix/service/speech/dialog | Run a voice dialog session that coordinates speech input and output. | service | rpc_server_stream | speech/srv/StartDialog.srv | service/speech/dialog.v1.toml |
robonix/service/speech/list_speakers | List speaker playback targets available for speech output. | service | rpc | speech/srv/ListSpeakers.srv | service/speech/list_speakers.v1.toml |
robonix/service/speech/speak | Speak text aloud through a selected audio output target. | service | rpc | speech/srv/Speak.srv | service/speech/speak.v1.toml |
robonix/service/speech/tts | Synthesize one text input into audio. | service | rpc | tts/srv/Synthesize.srv | service/speech/tts.v1.toml |
robonix/service/speech/tts_stream | Streaming text-to-speech synthesis that returns audio chunks. | service | rpc_server_stream | tts/srv/SynthesizeStream.srv | service/speech/tts_stream.v1.toml |
robonix/service/speech/wake_word | Detect a configured wake phrase from a client-streamed PCM audio source. | service | rpc_client_stream | speech/srv/DetectWakeWord.srv | service/speech/wake_word.v1.toml |
robonix/service/voiceprint/delete | Delete an enrolled speaker identity from the voiceprint database. | service | rpc | voiceprint/srv/DeleteEnrolled.srv | service/voiceprint/delete.v1.toml |
robonix/service/voiceprint/enroll | Enroll a speaker identity from voice samples. | service | rpc | voiceprint/srv/Enroll.srv | service/voiceprint/enroll.v1.toml |
robonix/service/voiceprint/identify | Identify whether an audio sample matches an enrolled speaker. | service | rpc | voiceprint/srv/Identify.srv | service/voiceprint/identify.v1.toml |
robonix/service/voiceprint/list | List enrolled speaker identities known to the voiceprint service. | service | rpc | voiceprint/srv/ListEnrolled.srv | service/voiceprint/list.v1.toml |
system
| 能力约定 ID | 接口含义 | kind | mode | 载荷（IDL） | 能力约定 TOML |
|---|---|---|---|---|---|
robonix/system/executor/cancel_all_plans | Cancel all currently running executor plans. | service | rpc | executor/srv/CancelAll.srv | system/executor/cancel_all_plans.v1.toml |
robonix/system/executor/control_plan | Apply an out-of-band RTDL meta operation without creating another plan. | service | rpc | executor/srv/ControlPlan.srv | system/executor/control_plan.v1.toml |
robonix/system/executor/execute | Execute an RTDL plan and stream execution events. | service | rpc_server_stream | executor/srv/Execute.srv | system/executor/execute.v1.toml |
robonix/system/executor/get_health | Return the current health report of the Executor module. | service | rpc | module_health/srv/GetModuleHealth.srv | system/executor/get_health.toml |
robonix/system/executor/list_active_plans | Read the authoritative set of RTDL plans currently owned by Executor without creating a new plan. | service | rpc | executor/srv/ListActivePlans.srv | system/executor/list_active_plans.v1.toml |
robonix/system/liaison/handsfree/events | Subscribe to events from Liaison's robot-local hands-free voice turns. | service | rpc_server_stream | liaison/srv/WatchHandsfreeEvents.srv | system/liaison/handsfree/events.v1.toml |
robonix/system/liaison/handsfree/set_enabled | Enable or disable Liaison's robot-local wake-word interaction mode. | service | rpc | liaison/srv/SetHandsfree.srv | system/liaison/handsfree/set_enabled.v1.toml |
robonix/system/liaison/handsfree/status | Read Liaison's robot-local wake-word interaction state. | service | rpc | liaison/srv/GetHandsfreeStatus.srv | system/liaison/handsfree/status.v1.toml |
robonix/system/liaison/submit | Submit a user task through Liaison and stream Pilot events back. | service | rpc_server_stream | liaison/srv/SubmitTask.srv | system/liaison/submit.v1.toml |
robonix/system/liaison/voice | Run a voice interaction session through Liaison. | service | rpc_server_stream | liaison/srv/StartVoiceSession.srv | system/liaison/voice.v1.toml |
robonix/system/pilot | Submit a task to Pilot and stream planning events. | service | rpc_server_stream | pilot/srv/SubmitTask.srv | system/pilot.v1.toml |
robonix/system/pilot/get_health | Return the current health report of the Pilot module. | service | rpc | module_health/srv/GetModuleHealth.srv | system/pilot/get_health.toml |
robonix/system/scene/get_object_context | Return one scene object's node, relations, and nearby context. | service | rpc | semantic_map/srv/GetObjectContext.srv | system/scene/get_object_context.v1.toml |
robonix/system/scene/get_robot_context | Return the robot pose, containing room and areas, and nearby objects as one current Scene snapshot. | service | rpc | semantic_map/srv/GetRobotContext.srv | system/scene/get_robot_context.v1.toml |
robonix/system/scene/get_scene_graph | Return the current scene graph snapshot. | service | rpc | semantic_map/srv/GetSceneGraph.srv | system/scene/get_scene_graph.v1.toml |
robonix/system/scene/goal_near | Compute a navigation-safe approach pose near a known physical scene object. Room annotations are not accepted; use robonix/system/scene/goal_room for rooms or named regions. | service | rpc | semantic_map/srv/GoalNear.srv | system/scene/goal_near.v1.toml |
robonix/system/scene/goal_room | Resolve a room annotation to a navigation-safe pose inside its polygon. Use this for named rooms or regions before navigation/navigate. | service | rpc | semantic_map/srv/GoalRoom.srv | system/scene/goal_room.v1.toml |
robonix/system/scene/list_objects | List all objects currently known to the scene registry. | service | rpc | semantic_map/srv/ListObjects.srv | system/scene/list_objects.v1.toml |
robonix/system/scene/list_relations | List scene graph relations, optionally filtered by relation type. | service | rpc | semantic_map/srv/ListRelations.srv | system/scene/list_relations.v1.toml |
robonix/system/soma/description | Return the robot body description, including URDF and high-level metadata. | service | rpc | soma/srv/GetDescription.srv | system/soma/description.v1.toml |
robonix/system/soma/footprint | Return the robot 2D collision footprint in the base frame. | service | rpc | soma/srv/GetFootprint.srv | system/soma/footprint.v1.toml |
robonix/system/soma/get_health | - | service | rpc | soma/srv/GetHealth.srv | system/soma/get_health.v1.toml |
robonix/system/soma/get_urdf | - | service | rpc | soma/srv/GetUrdf.srv | system/soma/get_urdf.v1.toml |
robonix/system/soma/get_yaml | - | service | rpc | soma/srv/GetYaml.srv | system/soma/get_yaml.v1.toml |
robonix/system/soma/health | - | service | rpc_server_stream | soma/srv/StreamHealth.srv | system/soma/health.v1.toml |
robonix/system/vitals/get | - | service | rpc | vitals/srv/GetVitals.srv | system/vitals/get.v1.toml |
robonix/system/vitals/modules/get | Return the current aggregated module health snapshot from Vitals. | service | rpc | module_health/srv/GetModuleHealthSnapshot.srv | system/vitals/modules/get.toml |
robonix/system/vitals/stream | - | service | rpc_server_stream | vitals/srv/StreamVitals.srv | system/vitals/stream.v1.toml |
other
| 能力约定 ID | 接口含义 | kind | mode | 载荷（IDL） | 能力约定 TOML |
|---|---|---|---|---|---|
robonix/lifecycle/driver | Initialize, activate, deactivate, or shut down a managed provider. | service | rpc | lifecycle/srv/Driver.srv | lifecycle/driver.v1.toml |