rosetta_interfaces

ROS 2 action and service definitions for Rosetta.

These form the control plane (start/stop/manage). The data plane (observations, actions, rewards) is plain ROS 2 topics defined by the contract YAML.

Interface	Kind	Server	Purpose
RecordEpisode	action	episode_recorder	Record a demonstration to a rosbag
RunPolicy	action	policy_runner	Run policy (or classifier) inference
ManageEpisode	action	hil_manager	Orchestrate a human-in-the-loop episode
StartHILEpisode	service	hil_manager	Start a HIL episode (returns once started)
StartRecording	service	episode_recorder	Lightweight start of recording

Field-by-field definitions with example calls: Actions and services reference. The .action and .srv files in this repo are the source of truth — they are commented, and short enough to read directly.

Build

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

Documentation

Full Rosetta documentation: https://iblnkn.github.io/rosetta/

License

Apache-2.0