molly_interfaces
Molly's own messages and services. Everything the Dharma stack offers (status of every subsystem, sites, mapping, the path finder, navigation, the control mux) is in dharma_interfaces; Molly adds what a tour guide needs on top. Definitions: msg/ and srv/.
| Kind | Name | Used by |
|---|---|---|
| msg | Poi, PoiArray, Tour, TourArray | site/pois, site/tours (latched, site_content_node) |
| msg | TourCommand, TourState | tour/cmd, tour/state (latched, guide_node) |
| msg | Visitors | perception/visitors (visitor_tracker_node) |
| msg | SpeechStatus, GreeterStatus, Conversation | interaction/speech_status, interaction/greeter (latched), interaction/conversation |
| srv | SavePoi, SaveTour, DeleteById | site/save_poi, site/save_tour, site/delete_poi, site/delete_tour |
| srv | GoToPoi | guide/go_to_poi |
| srv | TourControl, GetTourState | tour/control, tour/get_state |
| srv | Say, Ask, Gesture | interaction/say, interaction/ask, interaction/gesture |
Status messages carry enum constants (TourState.RUNNING, SpeechStatus.DONE, GreeterStatus.WATCHING), never strings or JSON. Every topic and service of the robot is listed in docs/interfaces.md.