ROS2 Runtime and Introspection Message Types

Definitions are sourced from release/install/raisin_ros2_messages/ubuntu/22.04/x86_64/release/messages. Only the public message schemas are documented here.

Messages

rcl_interfaces

• FloatingPointRange: - Fields:

  • float64 from_value

  • float64 to_value

  • float64 step

• IntegerRange: - Fields:

  • int64 from_value

  • int64 to_value

  • uint64 step

• ListParametersResult: - Fields:

  • string[] names

  • string[] prefixes

• Log: - Fields:

  • builtin_interfaces/Time stamp

  • uint8 level

  • string name

  • string msg

  • string file

  • string function

  • uint32 line

  • Constants: - uint8 DEBUG=10 - uint8 INFO=20 - uint8 WARN=30 - uint8 ERROR=40 - uint8 FATAL=50

• Parameter: - Fields:

  • string name

  • ParameterValue value

• ParameterDescriptor: - Fields:

  • string name

  • uint8 type

  • string description

  • string additional_constraints

  • bool read_only

  • bool dynamic_typing

  • FloatingPointRange[<=1] floating_point_range

  • IntegerRange[<=1] integer_range

• ParameterEvent: - Fields:

  • builtin_interfaces/Time stamp

  • string node

  • Parameter[] new_parameters

  • Parameter[] changed_parameters

  • Parameter[] deleted_parameters

• ParameterEventDescriptors: - Fields:

  • ParameterDescriptor[] new_parameters

  • ParameterDescriptor[] changed_parameters

  • ParameterDescriptor[] deleted_parameters

• ParameterType: - Fields:

  • (none)

  • Constants: - uint8 PARAMETER_NOT_SET=0 - uint8 PARAMETER_BOOL=1 - uint8 PARAMETER_INTEGER=2 - uint8 PARAMETER_DOUBLE=3 - uint8 PARAMETER_STRING=4 - uint8 PARAMETER_BYTE_ARRAY=5 - uint8 PARAMETER_BOOL_ARRAY=6 - uint8 PARAMETER_INTEGER_ARRAY=7 - uint8 PARAMETER_DOUBLE_ARRAY=8 - uint8 PARAMETER_STRING_ARRAY=9

• ParameterValue: - Fields:

  • uint8 type

  • bool bool_value

  • int64 integer_value

  • float64 double_value

  • string string_value

  • byte[] byte_array_value

  • bool[] bool_array_value

  • int64[] integer_array_value

  • float64[] double_array_value

  • string[] string_array_value

• SetParametersResult: - Fields:

  • bool successful

  • string reason

type_description_interfaces

• Field: - Fields:

  • string name

  • FieldType type

  • string default_value

• FieldType: - Fields:

  • uint8 type_id

  • uint64 capacity

  • uint64 string_capacity

  • string<=255 nested_type_name

  • Constants: - uint8 FIELD_TYPE_NOT_SET=0 - uint8 FIELD_TYPE_NESTED_TYPE=1 - uint8 FIELD_TYPE_INT8=2 - uint8 FIELD_TYPE_UINT8=3 - uint8 FIELD_TYPE_INT16=4 - uint8 FIELD_TYPE_UINT16=5 - uint8 FIELD_TYPE_INT32=6 - uint8 FIELD_TYPE_UINT32=7 - uint8 FIELD_TYPE_INT64=8 - uint8 FIELD_TYPE_UINT64=9 - uint8 FIELD_TYPE_FLOAT=10 - uint8 FIELD_TYPE_DOUBLE=11 - uint8 FIELD_TYPE_LONG_DOUBLE=12 - uint8 FIELD_TYPE_CHAR=13 - uint8 FIELD_TYPE_WCHAR=14 - uint8 FIELD_TYPE_BOOLEAN=15 - uint8 FIELD_TYPE_BYTE=16 - uint8 FIELD_TYPE_STRING=17 - uint8 FIELD_TYPE_WSTRING=18 - uint8 FIELD_TYPE_FIXED_STRING=19 - uint8 FIELD_TYPE_FIXED_WSTRING=20 - uint8 FIELD_TYPE_BOUNDED_STRING=21 - uint8 FIELD_TYPE_BOUNDED_WSTRING=22 - uint8 FIELD_TYPE_NESTED_TYPE_ARRAY=49 - uint8 FIELD_TYPE_INT8_ARRAY=50 - uint8 FIELD_TYPE_UINT8_ARRAY=51 - uint8 FIELD_TYPE_INT16_ARRAY=52 - uint8 FIELD_TYPE_UINT16_ARRAY=53 - uint8 FIELD_TYPE_INT32_ARRAY=54 - uint8 FIELD_TYPE_UINT32_ARRAY=55 - uint8 FIELD_TYPE_INT64_ARRAY=56 - uint8 FIELD_TYPE_UINT64_ARRAY=57 - uint8 FIELD_TYPE_FLOAT_ARRAY=58 - uint8 FIELD_TYPE_DOUBLE_ARRAY=59 - uint8 FIELD_TYPE_LONG_DOUBLE_ARRAY=60 - uint8 FIELD_TYPE_CHAR_ARRAY=61 - uint8 FIELD_TYPE_WCHAR_ARRAY=62 - uint8 FIELD_TYPE_BOOLEAN_ARRAY=63 - uint8 FIELD_TYPE_BYTE_ARRAY=64 - uint8 FIELD_TYPE_STRING_ARRAY=65 - uint8 FIELD_TYPE_WSTRING_ARRAY=66 - uint8 FIELD_TYPE_FIXED_STRING_ARRAY=67 - uint8 FIELD_TYPE_FIXED_WSTRING_ARRAY=68 - uint8 FIELD_TYPE_BOUNDED_STRING_ARRAY=69 - uint8 FIELD_TYPE_BOUNDED_WSTRING_ARRAY=70 - uint8 FIELD_TYPE_NESTED_TYPE_BOUNDED_SEQUENCE=97 - uint8 FIELD_TYPE_INT8_BOUNDED_SEQUENCE=98 - uint8 FIELD_TYPE_UINT8_BOUNDED_SEQUENCE=99 - uint8 FIELD_TYPE_INT16_BOUNDED_SEQUENCE=100 - uint8 FIELD_TYPE_UINT16_BOUNDED_SEQUENCE=101 - uint8 FIELD_TYPE_INT32_BOUNDED_SEQUENCE=102 - uint8 FIELD_TYPE_UINT32_BOUNDED_SEQUENCE=103 - uint8 FIELD_TYPE_INT64_BOUNDED_SEQUENCE=104 - uint8 FIELD_TYPE_UINT64_BOUNDED_SEQUENCE=105 - uint8 FIELD_TYPE_FLOAT_BOUNDED_SEQUENCE=106 - uint8 FIELD_TYPE_DOUBLE_BOUNDED_SEQUENCE=107 - uint8 FIELD_TYPE_LONG_DOUBLE_BOUNDED_SEQUENCE=108 - uint8 FIELD_TYPE_CHAR_BOUNDED_SEQUENCE=109 - uint8 FIELD_TYPE_WCHAR_BOUNDED_SEQUENCE=110 - uint8 FIELD_TYPE_BOOLEAN_BOUNDED_SEQUENCE=111 - uint8 FIELD_TYPE_BYTE_BOUNDED_SEQUENCE=112 - uint8 FIELD_TYPE_STRING_BOUNDED_SEQUENCE=113 - uint8 FIELD_TYPE_WSTRING_BOUNDED_SEQUENCE=114 - uint8 FIELD_TYPE_FIXED_STRING_BOUNDED_SEQUENCE=115 - uint8 FIELD_TYPE_FIXED_WSTRING_BOUNDED_SEQUENCE=116 - uint8 FIELD_TYPE_BOUNDED_STRING_BOUNDED_SEQUENCE=117 - uint8 FIELD_TYPE_BOUNDED_WSTRING_BOUNDED_SEQUENCE=118 - uint8 FIELD_TYPE_NESTED_TYPE_UNBOUNDED_SEQUENCE=145 - uint8 FIELD_TYPE_INT8_UNBOUNDED_SEQUENCE=146 - uint8 FIELD_TYPE_UINT8_UNBOUNDED_SEQUENCE=147 - uint8 FIELD_TYPE_INT16_UNBOUNDED_SEQUENCE=148 - uint8 FIELD_TYPE_UINT16_UNBOUNDED_SEQUENCE=149 - uint8 FIELD_TYPE_INT32_UNBOUNDED_SEQUENCE=150 - uint8 FIELD_TYPE_UINT32_UNBOUNDED_SEQUENCE=151 - uint8 FIELD_TYPE_INT64_UNBOUNDED_SEQUENCE=152 - uint8 FIELD_TYPE_UINT64_UNBOUNDED_SEQUENCE=153 - uint8 FIELD_TYPE_FLOAT_UNBOUNDED_SEQUENCE=154 - uint8 FIELD_TYPE_DOUBLE_UNBOUNDED_SEQUENCE=155 - uint8 FIELD_TYPE_LONG_DOUBLE_UNBOUNDED_SEQUENCE=156 - uint8 FIELD_TYPE_CHAR_UNBOUNDED_SEQUENCE=157 - uint8 FIELD_TYPE_WCHAR_UNBOUNDED_SEQUENCE=158 - uint8 FIELD_TYPE_BOOLEAN_UNBOUNDED_SEQUENCE=159 - uint8 FIELD_TYPE_BYTE_UNBOUNDED_SEQUENCE=160 - uint8 FIELD_TYPE_STRING_UNBOUNDED_SEQUENCE=161 - uint8 FIELD_TYPE_WSTRING_UNBOUNDED_SEQUENCE=162 - uint8 FIELD_TYPE_FIXED_STRING_UNBOUNDED_SEQUENCE=163 - uint8 FIELD_TYPE_FIXED_WSTRING_UNBOUNDED_SEQUENCE=164 - uint8 FIELD_TYPE_BOUNDED_STRING_UNBOUNDED_SEQUENCE=165 - uint8 FIELD_TYPE_BOUNDED_WSTRING_UNBOUNDED_SEQUENCE=166

• IndividualTypeDescription: - Fields:

  • string<=255 type_name

  • Field[] fields

• KeyValue: - Fields:

  • string key

  • string value

• TypeDescription: - Fields:

  • IndividualTypeDescription type_description

  • IndividualTypeDescription[] referenced_type_descriptions

• TypeSource: - Fields:

  • string type_name

  • string encoding

  • string raw_file_contents

lifecycle_msgs

• State: - Fields:

  • uint8 id

  • string label

  • Constants: - uint8 PRIMARY_STATE_UNKNOWN=0 - uint8 PRIMARY_STATE_UNCONFIGURED=1 - uint8 PRIMARY_STATE_INACTIVE=2 - uint8 PRIMARY_STATE_ACTIVE=3 - uint8 PRIMARY_STATE_FINALIZED=4 - uint8 TRANSITION_STATE_CONFIGURING=10 - uint8 TRANSITION_STATE_CLEANINGUP=11 - uint8 TRANSITION_STATE_SHUTTINGDOWN=12 - uint8 TRANSITION_STATE_ACTIVATING=13 - uint8 TRANSITION_STATE_DEACTIVATING=14 - uint8 TRANSITION_STATE_ERRORPROCESSING=15

• Transition: - Fields:

  • uint8 id

  • string label

  • Constants: - uint8 TRANSITION_CREATE=0 - uint8 TRANSITION_CONFIGURE=1 - uint8 TRANSITION_CLEANUP=2 - uint8 TRANSITION_ACTIVATE=3 - uint8 TRANSITION_DEACTIVATE=4 - uint8 TRANSITION_UNCONFIGURED_SHUTDOWN=5 - uint8 TRANSITION_INACTIVE_SHUTDOWN=6 - uint8 TRANSITION_ACTIVE_SHUTDOWN=7 - uint8 TRANSITION_DESTROY=8 - uint8 TRANSITION_ON_CONFIGURE_SUCCESS=10 - uint8 TRANSITION_ON_CONFIGURE_FAILURE=11 - uint8 TRANSITION_ON_CONFIGURE_ERROR=12 - uint8 TRANSITION_ON_CLEANUP_SUCCESS=20 - uint8 TRANSITION_ON_CLEANUP_FAILURE=21 - uint8 TRANSITION_ON_CLEANUP_ERROR=22 - uint8 TRANSITION_ON_ACTIVATE_SUCCESS=30 - uint8 TRANSITION_ON_ACTIVATE_FAILURE=31 - uint8 TRANSITION_ON_ACTIVATE_ERROR=32 - uint8 TRANSITION_ON_DEACTIVATE_SUCCESS=40 - uint8 TRANSITION_ON_DEACTIVATE_FAILURE=41 - uint8 TRANSITION_ON_DEACTIVATE_ERROR=42 - uint8 TRANSITION_ON_SHUTDOWN_SUCCESS=50 - uint8 TRANSITION_ON_SHUTDOWN_FAILURE=51 - uint8 TRANSITION_ON_SHUTDOWN_ERROR=52 - uint8 TRANSITION_ON_ERROR_SUCCESS=60 - uint8 TRANSITION_ON_ERROR_FAILURE=61 - uint8 TRANSITION_ON_ERROR_ERROR=62 - uint8 TRANSITION_CALLBACK_SUCCESS=97 - uint8 TRANSITION_CALLBACK_FAILURE=98 - uint8 TRANSITION_CALLBACK_ERROR=99

• TransitionDescription: - Fields:

  • Transition transition

  • State start_state

  • State goal_state

• TransitionEvent: - Fields:

  • uint64 timestamp

  • Transition transition

  • State start_state

  • State goal_state

service_msgs

• ServiceEventInfo: - Fields:

  • uint8 event_type

  • builtin_interfaces/Time stamp

  • char[16] client_gid

  • int64 sequence_number

  • Constants: - uint8 REQUEST_SENT=0 - uint8 REQUEST_RECEIVED=1 - uint8 RESPONSE_SENT=2 - uint8 RESPONSE_RECEIVED=3

action_msgs

• GoalInfo: - Fields:

  • unique_identifier_msgs/UUID goal_id

  • builtin_interfaces/Time stamp

• GoalStatus: - Fields:

  • GoalInfo goal_info

  • int8 status

  • Constants: - int8 STATUS_UNKNOWN=0 - int8 STATUS_ACCEPTED=1 - int8 STATUS_EXECUTING=2 - int8 STATUS_CANCELING=3 - int8 STATUS_SUCCEEDED=4 - int8 STATUS_CANCELED=5 - int8 STATUS_ABORTED=6

• GoalStatusArray: - Fields:

  • GoalStatus[] status_list

actionlib_msgs

• GoalID: - Fields:

  • builtin_interfaces/Time stamp

  • string id

• GoalStatus: - Fields:

  • GoalID goal_id

  • uint8 status

  • string text

  • Constants: - uint8 PENDING=0 - uint8 ACTIVE=1 - uint8 PREEMPTED=2 - uint8 SUCCEEDED=3 - uint8 ABORTED=4 - uint8 REJECTED=5 - uint8 PREEMPTING=6 - uint8 RECALLING=7 - uint8 RECALLED=8 - uint8 LOST=9

• GoalStatusArray: - Fields:

  • std_msgs/Header header

  • GoalStatus[] status_list

statistics_msgs

• MetricsMessage: - Fields:

  • string measurement_source_name

  • string metrics_source

  • string unit

  • builtin_interfaces/Time window_start

  • builtin_interfaces/Time window_stop

  • StatisticDataPoint[] statistics

• StatisticDataPoint: - Fields:

  • uint8 data_type

  • float64 data

• StatisticDataType: - Fields:

  • (none)

  • Constants: - uint8 STATISTICS_DATA_TYPE_UNINITIALIZED=0 - uint8 STATISTICS_DATA_TYPE_AVERAGE=1 - uint8 STATISTICS_DATA_TYPE_MINIMUM=2 - uint8 STATISTICS_DATA_TYPE_MAXIMUM=3 - uint8 STATISTICS_DATA_TYPE_STDDEV=4 - uint8 STATISTICS_DATA_TYPE_SAMPLE_COUNT=5

Services

rcl_interfaces

• DescribeParameters: - Request fields:

  • string[] names

  • Response fields: - ParameterDescriptor[] descriptors

• GetParameterTypes: - Request fields:

  • string[] names

  • Response fields: - uint8[] types

• GetParameters: - Request fields:

  • string[] names

  • Response fields: - ParameterValue[] values

• ListParameters: - Request fields:

  • string[] prefixes

  • uint64 depth

  • Request constants: - uint64 DEPTH_RECURSIVE=0

  • Response fields: - ListParametersResult result

• SetParameters: - Request fields:

  • Parameter[] parameters

  • Response fields: - SetParametersResult[] results

• SetParametersAtomically: - Request fields:

  • Parameter[] parameters

  • Response fields: - SetParametersResult result

type_description_interfaces

• GetTypeDescription: - Request fields:

  • string type_name

  • string type_hash

  • bool include_type_sources

  • Response fields: - bool successful - string failure_reason - TypeDescription type_description - TypeSource[] type_sources - KeyValue[] extra_information

lifecycle_msgs

• ChangeState: - Request fields:

  • Transition transition

  • Response fields: - bool success

• GetAvailableStates: - Request fields:

  • (none)

  • Response fields: - State[] available_states

• GetAvailableTransitions: - Request fields:

  • (none)

  • Response fields: - TransitionDescription[] available_transitions

• GetState: - Request fields:

  • (none)

  • Response fields: - State current_state

composition_interfaces

• ListNodes: - Request fields:

  • (none)

  • Response fields: - string[] full_node_names - uint64[] unique_ids

• LoadNode: - Request fields:

  • string package_name

  • string plugin_name

  • string node_name

  • string node_namespace

  • uint8 log_level

  • string[] remap_rules

  • rcl_interfaces/Parameter[] parameters

  • rcl_interfaces/Parameter[] extra_arguments

  • Response fields: - bool success - string error_message - string full_node_name - uint64 unique_id

• UnloadNode: - Request fields:

  • uint64 unique_id

  • Response fields: - bool success - string error_message

action_msgs

• CancelGoal: - Request fields:

  • GoalInfo goal_info

  • Response fields: - int8 return_code - GoalInfo[] goals_canceling

  • Response constants: - int8 ERROR_NONE=0 - int8 ERROR_REJECTED=1 - int8 ERROR_UNKNOWN_GOAL_ID=2 - int8 ERROR_GOAL_TERMINATED=3