> ## Documentation Index
> Fetch the complete documentation index at: https://docs.innate.bot/llms.txt
> Use this file to discover all available pages before exploring further.

# Interfaces

> Reference for the main ROS 2 topics, services, and actions on MARS

Use **topics** for streams, **services** for one-off requests, and **actions** for long tasks with feedback. List everything live with `ros2 topic list`, `ros2 service list`, and `ros2 action list`.

## Topics

"Pub" means MARS publishes it and you subscribe. "Sub" means you publish commands to it.

| Topic                                    | Type                         | Dir | Contents                               |
| ---------------------------------------- | ---------------------------- | --- | -------------------------------------- |
| `/cmd_vel`                               | `geometry_msgs/Twist`        | Sub | Base velocity commands                 |
| `/odom`                                  | `nav_msgs/Odometry`          | Pub | Position and velocity estimate         |
| `/scan`                                  | `sensor_msgs/LaserScan`      | Pub | LiDAR                                  |
| `/battery_state`                         | `sensor_msgs/BatteryState`   | Pub | Charge, voltage, charging status       |
| `/mars/main_camera/left/image_raw`       | `sensor_msgs/Image`          | Pub | Head camera, left eye                  |
| `/mars/main_camera/depth/image_rect_raw` | `sensor_msgs/Image`          | Pub | Stereo depth                           |
| `/mars/arm/image_raw`                    | `sensor_msgs/Image`          | Pub | Wrist camera                           |
| `/mars/arm/state`                        | `sensor_msgs/JointState`     | Pub | Arm joints                             |
| `/mars/arm/commands`                     | `std_msgs/Float64MultiArray` | Sub | Direct arm joint commands              |
| `/leader/state`                          | `sensor_msgs/JointState`     | Pub | Leader arm joints, while teleoperating |
| `/joint_states`                          | `sensor_msgs/JointState`     | Pub | All joints, for visualization          |
| `/nav/current_mode`                      |                              | Pub | `navigation`, `mapfree`, or `mapping`  |
| `/brain/chat_out`                        | `std_msgs/String`            | Pub | What the agent says                    |
| `/brain/available_skills`                | `std_msgs/String`            | Pub | Loaded skills, as JSON                 |
| `/brain/skill_status_update`             | `std_msgs/String`            | Pub | Status of the running skill            |

```bash theme={"languages":{"custom":["/languages/python-typed.json"]}}
ros2 topic echo /battery_state
ros2 topic hz /scan
```

## Services

| Service                            | Type                                    | Does                                         |
| ---------------------------------- | --------------------------------------- | -------------------------------------------- |
| `/mars/arm/goto_js`                | `mars_msgs/GotoJS`                      | Move arm joints over `time` **seconds**      |
| `/mars/head/set_ai_position`       | `std_srvs/Trigger`                      | Put the head in its default position         |
| `/light_command`                   | `mars_msgs/LightCommand`                | Set LED mode and color                       |
| `/nav/change_mode`                 | `brain_messages/ChangeNavigationMode`   | Switch navigation mode                       |
| `/nav/change_navigation_map`       | `brain_messages/ChangeMap`              | Switch the active map                        |
| `/nav/save_map`, `/nav/delete_map` | `brain_messages/SaveMap`, `DeleteMap`   | Save or delete a map                         |
| `/localize`                        | `std_srvs/Trigger`                      | Relocalize on the current map                |
| `/brain/reload_skills_agents`      | `brain_messages/ReloadSkillsAgents`     | Reload the workspace                         |
| `/brain/get_available_directives`  | `brain_messages/GetAvailableDirectives` | List agents ("directives" is their old name) |
| `/brain/get_chat_history`          | `brain_messages/GetChatHistory`         | Get the conversation                         |
| `/brain/reset_brain`               | `brain_messages/ResetBrain`             | Reset the agent's state                      |
| `/brain/recorder/*`                | various                                 | Start, save, and cancel recordings           |
| `/set_robot_name`                  | `mars_msgs/SetRobotName`                | Rename the robot and its hostname            |
| `/trigger_update`                  | `mars_msgs/TriggerUpdate`               | Start an OS update                           |
| `/shutdown`                        | `mars_msgs/Shutdown`                    | Shut down                                    |

```bash theme={"languages":{"custom":["/languages/python-typed.json"]}}
# Move the arm over 2 seconds (time is in seconds, not milliseconds)
ros2 service call /mars/arm/goto_js mars_msgs/srv/GotoJS \
  "{data: {data: [0.0, -0.8, 1.2, -0.6, 0.0, 0.0]}, time: 2.0}"

# Set the LEDs to Innate purple
ros2 service call /light_command mars_msgs/srv/LightCommand \
  "{mode: 1, interval: 0, r: 64, g: 31, b: 251}"
```

## Actions

| Action              | Type                             | Does                                 |
| ------------------- | -------------------------------- | ------------------------------------ |
| `/navigate_to_pose` | `nav2_msgs/NavigateToPose`       | Drive to a pose on the map           |
| `/execute_skill`    | `brain_messages/ExecuteSkill`    | Run a skill by name with JSON inputs |
| `/behavior/execute` | `brain_messages/ExecuteBehavior` | Run a trained policy from its folder |

```bash theme={"languages":{"custom":["/languages/python-typed.json"]}}
ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose \
  "{pose: {header: {frame_id: map}, pose: {position: {x: 1.0, y: 0.0}, orientation: {w: 1.0}}}}" --feedback

ros2 action send_goal /execute_skill brain_messages/action/ExecuteSkill \
  "{skill_type: wave, inputs: \"{}\"}" --feedback
```