This package contains ROS2 messages, services, and actions for the capabilities2 framework.

Message Types

Message Type	Description
`Capability.msg`	A message type for a capability of a robot.
`CapabilityCommand.msg`	A message type for a command to a robot.
`CapabilityConnection.msg`	A message type for connecting one capability to another through the event system.
`CapabilityEvent.msg`	A message type for an event related to a capability.
`CapabilityEventCode.msg`	event types
`CapabilityEventStamped.msg`	A stamped version of event
`CapabilityResponse.msg`	A message type for a response from a robot related to a capability.
`CapabilitySpec.msg`	A message type for the specification of a capability.
`NaturalCapability.msg`	A message type for a natural capability of a robot.
`Remapping.msg`	A message type for a key/value remapping of a capability resource.
`RunningCapability.msg`	A message type for a running capability.

Service Types

Service Type	Description
`EstablishBond.srv`	A service type for establishing a bond between a robot and a client.
`FreeCapability.srv`	A service type for freeing a capability of a robot.
`GetCapabilitySpec.srv`	A service type for getting the specification of a capability of a robot.
`GetCapabilitySpecs.srv`	A service type for getting the specifications of all capabilities of a robot.
`GetInterfaces.srv`	A service type for getting the interfaces of a robot.
`GetProviders.srv`	A service type for getting the providers of a capability of a robot.
`GetRemappings.srv`	A service type for getting the remappings of a capability of a robot.
`GetRunningCapabilities.srv`	A service type for getting the running capabilities of a robot.
`GetSemanticInterfaces.srv`	A service type for getting the semantic interfaces.
`RegisterCapability.srv`	A service type for registering a capability with the server.
`StartCapability.srv`	A service type for starting a capability.
`StopCapability.srv`	A service type for stopping a capability.
`UseCapability.srv`	A service type for using a capability.

New in 0.1.3:

ConnectCapability.srv - A service type for connecting two running capabilities together through the event system.
Launch.srv - A service type for launching a launch file.
TriggerCapability.srv - A service type for triggering a capability.

Action Type	Description
`Capability.action`	An action type for an encapsulated capability action.
`Launch.action`	An action type for launching a launch file.