Interface Directory

This directory contains all ROS 2 interface definitions (messages, services, and actions) shared across Butler robot packages.

HowTo

1.- Create the directory that you want to share interfaces with

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high_level_reasoning

ROS 2 interface package for the High Level Reasoning node. Defines the communication contracts between the HLR node, the LLM, and the rest of the robot stack.

Actions

File	Description
ExecuteCommand.action	Sends a navigation command (command + landmarks_to_visit) to the robot. Returns execution status and error description if it cannot be executed.
OllamaChatInteraction.action	Sends a prompt to a given Ollama model. Returns the model response, success flag, and parsed command string.
SystemOperativeCheck.action	Triggers a system readiness check (no goal fields). Returns whether the robot is operative and a list of issues if not.

Messages

File	Description
Pddl.msg	Carries a PDDL planning state: timestamp, list of goals, and list of predicates.
SystemState.msg	Bitmask-based snapshot of robot subsystem health. Reports the state of map, localization, lidar, odometry, landmarks, Nav2, and AMCL using integer constants (OK/NOK).

Services

File	Description
OllamaChatInteraction.srv	Synchronous version of the Ollama interaction: sends a prompt + model, returns response, success, and error.