rosetta_interfaces

ROS2 action definitions for Rosetta.

Actions

RecordEpisode

Trigger demonstration recording:

ros2 action send_goal /episode_recorder/record_episode \
    rosetta_interfaces/action/RecordEpisode \
    "{prompt: 'pick up the red block'}"

# Goal
string prompt           # Task description (stored in bag metadata)

# Result
bool success
string message
string bag_path         # Path to recorded bag
int32 messages_written

# Feedback
int32 seconds_remaining
int32 messages_written
string status           # "recording", "stopping", etc.

RunPolicy

Trigger policy inference:

ros2 action send_goal /rosetta_client/run_policy \
    rosetta_interfaces/action/RunPolicy \
    "{prompt: 'pick up the red block'}"

# Goal
string prompt           # Task description (for language-conditioned policies)

# Result
bool success
string message

# Feedback
uint32 published_actions
uint32 queue_depth
string status           # "executing", "waiting_for_policy", etc.

Installation

colcon build --packages-select rosetta_interfaces
source install/setup.bash

License

Apache-2.0