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Use ROS2 services for request/response operations.

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Service Interface

Arm Control

Service NameTypeDescription
/mars/arm/goto_jsmaurice_msgs/GotoJSMove arm joints to target positions over a specified duration.
/mars/head/set_ai_positionstd_srvs/TriggerSet the head to the default AI viewing position.

Navigation and Maps

Service NameTypeDescription
/light_commandmaurice_msgs/LightCommandControl LED mode, interval, and RGB color.
/shutdownmaurice_msgs/ShutdownTrigger robot shutdown sequence.
/set_robot_namemaurice_msgs/SetRobotNameSet display name used by app and hostname conversion.
/trigger_updatemaurice_msgs/TriggerUpdateTrigger update flow on the robot.
Service NameTypeDescription
/get_available_primitivesbrain_messages/GetAvailablePrimitivesList available skills (primitives).
/get_available_directivesbrain_messages/GetAvailableDirectivesList available agents (directives).
/get_available_behaviorsbrain_messages/GetAvailableBehaviorsList available learned manipulation behaviors.
/reset_brainbrain_messages/ResetBrainReset brain runtime state.
/set_directive_on_startupbrain_messages/SetDirectiveOnStartupChoose which agent should auto-load at boot.
/get_chat_historybrain_messages/GetChatHistoryRetrieve BASIC conversation history.
Service NameTypeDescription
/new_taskbrain_messages/ManipulationTaskStart recording a new manipulation task.
/new_episodestd_srvs/TriggerStart a new episode inside current task.
/save_episodestd_srvs/TriggerSave current episode.
/cancel_episodestd_srvs/TriggerDiscard current episode.
/end_taskstd_srvs/TriggerFinalize current task recording.
/get_task_metadatabrain_messages/GetTaskMetadataRead metadata for a recording task.
/get_dataset_infobrain_messages/GetDatasetInfoRead dataset summary and statistics.

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When to use a service

Use a service when you need a single request/response interaction (for example “do this now and return success/failure”). Use Topics for continuous streaming and Actions for long-running operations with progress/cancel.

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Quick commands

ros2 service list
ros2 service list -t
ros2 service type /mars/arm/goto_js
ros2 interface show maurice_msgs/srv/GotoJS
ros2 service call /mars/head/set_ai_position std_srvs/srv/Trigger {}

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Common call examples

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Set LED color

ros2 service call /light_command maurice_msgs/srv/LightCommand \
  "{mode: 1, interval: 0, r: 64, g: 31, b: 251}"

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Move arm in joint space

ros2 service call /mars/arm/goto_js maurice_msgs/srv/GotoJS \
  "{data: {data: [0.0, -0.8, 1.2, -0.6, 0.0, 0.0]}, time: 2000}"

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Switch navigation mode

ros2 service call /change_navigation_mode brain_messages/srv/ChangeNavigationMode \
  "{mode: navigation}"

Topics

Streaming state and command channels.

Actions

Long-running tasks with feedback and cancellation.