Fabric 0.2.0
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ROS2 Interface

Node Description
Fabric Main server node. Loads the configured parser and validation plugins, queues plans, validates them against capabilities2, allocates/connects capabilities, and tracks execution status.
Service Service Message Description
/fabric/cancel_plan CancelFabricPlan.srv Cancel the current plan running in the Fabric
/fabric/set_completion CompleteFabric.srv Mark the current plan complete. The request contains only plan_id; the response is empty.
/fabric/set_plan SetFabricPlan.srv Submit a plan as raw XML text. On success the response contains a generated plan_id; on rejection it returns an empty plan_id and an error string.
/fabric/get_plan_status GetPlanStatus.srv Query the current queued or active status for a plan_id. Returns a FabricStatus code and, for parse failures, any rejected XML fragments collected during syntax validation.