README

ROS 2 Messages package

ROS 2 message, service, and action definitions for the LabClean application.

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Services

ServeCoverageStatus.srv

Pause, resume, or stop the coverage navigator.

Request

Field	Type	Constants	Description
command	uint8	PAUSE=0 RESUME=1 STOP=2	Command to send to the coverage navigator

Response

Field	Type	Description
succeeded	bool	Whether the command was applied successfully
remaining_poses	int32	Number of waypoints remaining in the coverage plan

GetDetectedObjects.srv

Call the 2D classification and detection service.

Request

Field	Description
empty	-

Response

Field	Type	Description
detected_objects	DetectedObjectArray.msg	detected object array message.

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Messages

DetectedObjectArray.msg

Field	Type	Description
objects	DetectedObject[]	Array of detected objects
length	int32	Number of objects in the array

DetectedObject.msg

Field	Type	Description
pose	geometry_msgs/Pose	Object position and orientation in the map frame
size	geometry_msgs/Vector3	Bounding box dimensions (metres)
confidence	float32	Detection confidence score [0.0, 1.0]
label	string	Object class label (e.g. "target")

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Actions

NavigateCoverage.action

Execute a full coverage navigation plan over the mapped area.

Goal

Field	Type	Constants	Description
planner_type	string	BOUSTROPHEDON="BousPlanner" SPANNINGTREE="SpanningTreePlanner" SKELETON="SkeletonPlanner"	Coverage planner to use
verbose	bool		Enable verbose logging in the coverage navigator

Result

Field	Type	Description
success	bool	Whether coverage completed successfully
message	string	Human-readable status or error description

Feedback

Field	Type	Description
completion_percentage	float32	Percentage of coverage area visited [0.0, 100.0]
distance_remaining	float32	Estimated path distance remaining (metres)
current_segment	int32	Index of the segment currently being executed
total_segments	int32	Total number of segments in the coverage plan

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MoveToPosition.action

Move the MIRTE arm or gripper to a target position. Goal fields are evaluated in priority order — set only one per goal (see mirte_lc_moveit_cpp for execution details).

Goal

Field	Type	Description
mirte_arm_target_pose	geometry_msgs/Pose	Cartesian target pose for the arm (IK solved to wrist link). Active when position.x != 0.0.
mirte_arm_named_target	string	Named MoveIt target for the arm (e.g. "vigilant", "standby"). Takes priority over pose.
mirte_gripper_named_target	string	Named MoveIt target for the gripper (e.g. "open", "close"). Ignored if value is "none".
mirte_gripper_joint_target	float64	Direct gripper joint position (rad / m). Active when != 0.0.
mirte_wrist_joint_target	float64	Direct wrist joint position (rad). Active when != 0.0.

Result

Field	Type	Description
success	bool	Whether the motion completed successfully

Feedback

Field	Type	Description
state	string	Current execution state string from the action server