rai_interfaces

rai_interfaces is a ROS 2 package containing message and service interface definitions for communication within the RAI ecosystem.

These interfaces are designed to support integration and communication in robotics systems using ROS 2, and are compatible with the ROS 2 Humble and Jazzy distributions.

Features

• Custom message and service definitions used across the RAI platform.
• Compatible with ROS 2 Humble and Jazzy.
• Lightweight and modular for easy reuse in other packages.

Installation

Prerequisites

• ROS 2 (Humble Hawksbill or Jazzy Jalisco) installed and sourced.
• colcon build system.
• rosdep for installing dependencies.

Clone into a ROS 2 Workspace

1. Create a ROS 2 workspace (if you don’t have one):

   mkdir -p ~/rai_ws/src
   cd ~/rai_ws/src
   

1. Clone the rai_interfaces repository:

   git clone https://github.com/RobotecAI/rai_interfaces.git
   

1. Install dependencies:

   cd ~/rai_ws
   rosdep install --from-paths src --ignore-src -r -y
   

1. Build the workspace:

   colcon build
   

1. Source the workspace:

   source install/setup.bash
   

Usage

After building and sourcing the workspace, the interfaces can be used within RAI as well as ROS 2 packages.

Changelog for package rai_interfaces

0.3.0 (2025-05-30)

• Add [EmbodimentInfo]{.title-ref} service Co-authored-by: Maciej Majek <<maciej.majek@robotec.ai>>
• Contributors: Bartłomiej Boczek, Kacper Dąbrowski, Maciej Majek

0.2.2 (2025-04-30)

• Add action_msgs dependency for humble compatibility
• Add maintainers to package.xml
• Contributors: Kacper Dąbrowski

0.2.1 (2025-04-28)

• feat: add conversation id to HRI message (#480)
• feat: unified ROS2 hri message (#416)
• feat: add ManipulatorMoveTo service definition
• feat: add tool for getting segmentations
• feat: basic implementation stub of grabbing point tool
• feat: add tool for open-set detection using grounding dino (#215)
• feat: Task and TaskFeedback actions
• Contributors: Adam Dąbrowski, Bartek Boczek, Kacper Dąbrowski, Kajetan Rachwał, Maciej Majek, rachwalk