This directory contains all ROS 2 interface definitions (messages, services, and actions) shared across Butler robot packages.
1.- Create the directory that you want to share interfaces with
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.
| 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. |
| 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). |
| File | Description |
|---|---|
OllamaChatInteraction.srv |
Synchronous version of the Ollama interaction: sends a prompt + model, returns response, success, and error. |