OpenAMRobot Interfaces

Shared ROS 2 messages, services, actions, schemas, and interface contracts for the OpenAMRobot ecosystem.

Repository Status

Current maturity level: Experimental

Purpose

This repository defines interface contracts shared across the OpenAMRobot ecosystem, including:

• ROS 2 messages
• ROS 2 services
• ROS 2 actions
• communication schemas
• JSON/YAML contracts
• API conventions
• versioning rules
• interoperability definitions

This repository acts as the contract layer between:

• platform software
• firmware
• UI systems
• simulation
• docking
• navigation
• humanoid systems
• external integrations

Shared ROS 2 Interface Packages

The ros2/ directory contains shared ROS 2 interface packages used across the OpenAMRobot ecosystem.

Example:

ros2/openamr_ui_msgs

These packages may contain:

• ROS 2 messages (msg)
• ROS 2 services (srv)
• ROS 2 actions (action)

Why Shared Interfaces Are Centralized

Shared ROS 2 interface packages should not belong to individual application repositories.

Instead, they are centralized in:

openamrobot-interfaces

to provide:

• a single source of truth
• version consistency
• interoperability
• reusable contracts
• clean repository boundaries
• reduced duplication
• simulation and hardware compatibility

Usage Across Repositories

Other repositories should depend on shared interface packages instead of redefining them.

Examples:

openamr-platform-sw
openamrobot-ui
openamrobot-comm
future humanoid repositories
future fleet-management systems

Recommended Dependency Pattern

Repositories should include shared interfaces as dependencies in their ROS 2 workspace.

Example workspace structure:

workspace/
├── src/
│   ├── openamr-platform-sw/
│   ├── openamrobot-ui/
│   └── openamrobot-interfaces/

Interface Ownership

Interface definitions should remain:

• hardware-agnostic
• reusable
• transport-independent where possible
• stable and version-aware

Application-specific logic should remain outside this repository.

Repository Structure

openamrobot-interfaces/
├── ros2/
│   ├── msg/
│   ├── srv/
│   └── action/
│
├── schemas/
│   ├── json/
│   └── yaml/
│
├── docs/
├── examples/
├── tools/
└── tests/

Design Principles

Interfaces should be:

• stable
• minimal
• versioned
• backwards-compatible where possible
• hardware-agnostic
• simulation-compatible
• transport-independent when possible

Repository Boundaries

This repository contains interface definitions only.

ROS 2 implementations belong in:

openamr-platform-sw

Firmware implementations belong in:

openamr-platform-fw

Hardware files belong in:

openamr-platform-hw

Future Scope

Planned future interfaces include:

• robot state
• battery state
• docking state
• actuator control
• perception detections
• safety events
• diagnostics
• fleet management
• remote operation
• humanoid interfaces

License

MIT License.