Mission Manager API Endpoints
note
All nodes, topics, and services are namespace prefixed with the robot serial number.
If your serial number is cpr-a300-00001, then your namespace
will be a300_00001. This can be overwritten in the robot.yaml file.
Publishers
| Topic | Message type | Description | QoS |
|---|---|---|---|
| mission_manager/state | clearpath_mission_manager_msgs/msg/StorageState | Database containing all map/mission data | Latched |
| mission_manager/network_maps_validity | clearpath_mission_manager_msgs/msg/NetworkMapValidityState | Validity state of all maps | Latched |
Services
| Service | Service type | Description |
|---|---|---|
| mission_manager/add_network_edge | clearpath_mission_manager_msgs/srv/AddNetworkEdge | Add edge to network map |
| mission_manager/add_network_path | clearpath_mission_manager_msgs/srv/AddNetworkPath | Add a path to map |
| mission_manager/add_network_point | clearpath_mission_manager_msgs/srv/AddNetworkPoint | Add a map point |
| mission_manager/add_tag | clearpath_mission_manager_msgs/srv/AddRemoveTag | Add tag to map point |
| mission_manager/add_task_to_start | clearpath_mission_manager_msgs/srv/AddRemoveById | Add task to list of start tasks |
| mission_manager/add_task_to_stop | clearpath_mission_manager_msgs/srv/AddRemoveById | Add task to list of stop tasks |
| mission_manager/add_task_to_waypoint | clearpath_mission_manager_msgs/srv/AddRemoveById | Add task to a Goal point |
| mission_manager/add_waypoint_to_mission | clearpath_mission_manager_msgs/srv/AddRemoveById | Add Goal to mission |
| mission_manager/clone_mission | clearpath_mission_manager_msgs/srv/CloneMission | Clone mission |
| mission_manager/clone_network_map | clearpath_mission_manager_msgs/srv/CloneNetworkMap | Clone map |
| mission_manager/clone_network_mission | clearpath_mission_manager_msgs/srv/CloneNetworkMission | Clone mission |
| mission_manager/clone_point_of_interest | clearpath_mission_manager_msgs/srv/ClonePointOfInterest | Clone point of interest |
| mission_manager/clone_task | clearpath_mission_manager_msgs/srv/GetTask | Clone task |
| mission_manager/clone_waypoint | clearpath_mission_manager_msgs/srv/GetWaypoint | Clone goal |
| mission_manager/create_network_map | clearpath_mission_manager_msgs/srv/CreateNetworkMap | Create map |
| mission_manager/create_network_mission | clearpath_mission_manager_msgs/srv/CreateNetworkMission | Create mission |
| mission_manager/create_point_of_interest | clearpath_mission_manager_msgs/srv/CreatePointOfInterest | Create point of interest |
| mission_manager/create_task | clearpath_mission_manager_msgs/srv/CreateTask | Create task |
| mission_manager/create_waypoint | clearpath_mission_manager_msgs/srv/CreateWaypoint | Create Goal |
| mission_manager/create_waypoint_from_poi | clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi | Create Goal from point of interest |
| mission_manager/delete_all | clearpath_mission_manager_msgs/srv/DeleteEverything | Delete all mission/map/poi data |
| mission_manager/delete_network_edge | clearpath_mission_manager_msgs/srv/AddRemoveById | Delete map edge |
| mission_manager/delete_network_edges | clearpath_mission_manager_msgs/srv/DeleteMultiple | Delete map edges |
| mission_manager/delete_network_map | clearpath_mission_manager_msgs/srv/DeleteById | Delete map |
| mission_manager/delete_network_mission | clearpath_mission_manager_msgs/srv/DeleteById | Delete mission |
| mission_manager/delete_network_point | clearpath_mission_manager_msgs/srv/AddRemoveById | Delete map point |
| mission_manager/delete_network_points | clearpath_mission_manager_msgs/srv/DeleteMultiple | Delete map points |
| mission_manager/delete_orphan_objects | clearpath_mission_manager_msgs/srv/DeleteEverything | Delete orphaned objects |
| mission_manager/delete_point_of_interest | clearpath_mission_manager_msgs/srv/DeleteById | Delete point of interest |
| mission_manager/delete_task | clearpath_mission_manager_msgs/srv/DeleteById | Delete task |
| mission_manager/delete_tasks | clearpath_mission_manager_msgs/srv/DeleteMultiple | Delete tasks |
| mission_manager/delete_waypoint | clearpath_mission_manager_msgs/srv/DeleteById | Delete Goal |
| mission_manager/delete_waypoints | clearpath_mission_manager_msgs/srv/DeleteMultiple | Delete Goals |
| mission_manager/remove_tag | clearpath_mission_manager_msgs/srv/AddRemoveTag | Remove tag from item |
| mission_manager/export | clearpath_mission_manager_msgs/srv/ExportData | Export mission/map/poi database |
| mission_manager/get_all | clearpath_mission_manager_msgs/srv/GetEverything | Return all map/mission/poi data |
| mission_manager/get_all_network_maps | clearpath_mission_manager_msgs/srv/GetAllNetworkMaps | Return all maps |
| mission_manager/get_all_network_missions | clearpath_mission_manager_msgs/srv/GetAllNetworkMissions | Return all missions |
| mission_manager/get_all_points_of_interest | clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest | Return all points of interest |
| mission_manager/get_all_tasks | clearpath_mission_manager_msgs/srv/GetAllTasks | Return all tasks |
| mission_manager/get_all_waypoints | clearpath_mission_manager_msgs/srv/GetAllWaypoints | Return all goals |
| mission_manager/get_network_map | clearpath_mission_manager_msgs/srv/GetNetworkMap | Return specific map |
| mission_manager/get_network_mission | clearpath_mission_manager_msgs/srv/GetNetworkMission | Return specific mission |
| mission_manager/get_point_of_interest | clearpath_mission_manager_msgs/srv/GetPointOfInterest | Return specific point of interest |
| mission_manager/get_task | clearpath_mission_manager_msgs/srv/GetTask | Return specific task |
| mission_manager/get_waypoint | clearpath_mission_manager_msgs/srv/GetWaypoint | Return specific goal |
| mission_manager/import | clearpath_mission_manager_msgs/srv/ImportData | Import mission/map/poi data to database |
| mission_manager/import_mission | clearpath_mission_manager_msgs/srv/ImportMission | Import mission to database |
| mission_manager/import_network_map | clearpath_mission_manager_msgs/srv/ImportNetworkMap | Inport map to database |
| mission_manager/import_network_mission | clearpath_mission_manager_msgs/srv/ImportNetworkMission | Import mission to database |
| mission_manager/remove_task_from_start | clearpath_mission_manager_msgs/srv/AddRemoveById | Remove task from list of start tasks |
| mission_manager/remove_task_from_stop | clearpath_mission_manager_msgs/srv/AddRemoveById | Remove task from list of stop tasks |
| mission_manager/remove_task_from_waypoint | clearpath_mission_manager_msgs/srv/AddRemoveById | Remove task from goal |
| mission_manager/remove_waypoint_from_mission | clearpath_mission_manager_msgs/srv/AddRemoveById | Remove goal from mission |
| mission_manager/restore | clearpath_mission_manager_msgs/srv/ImportData | Restore data from a file |
| mission_manager/split_network_edge | clearpath_mission_manager_msgs/srv/SplitNetworkEdge | Split a map edge |
| mission_manager/update_network_edge | clearpath_mission_manager_msgs/srv/UpdateNetworkEdge | Update map edge |
| mission_manager/update_network_edges | clearpath_mission_manager_msgs/srv/UpdateNetworkEdges | Update map edges |
| mission_manager/update_network_map | clearpath_mission_manager_msgs/srv/UpdateNetworkMap | Update map |
| mission_manager/update_network_mission | clearpath_mission_manager_msgs/srv/UpdateNetworkMission | Update mission |
| mission_manager/update_network_point | clearpath_mission_manager_msgs/srv/UpdateNetworkPoint | Update map point |
| mission_manager/update_network_points | clearpath_mission_manager_msgs/srv/UpdateNetworkPoints | UPdate map points |
| mission_manager/update_point_of_interest | clearpath_mission_manager_msgs/srv/UpdatePointOfInterest | Update points of interestt |
| mission_manager/update_task | clearpath_mission_manager_msgs/srv/UpdateTask | Update task |
| mission_manager/update_waypoint | clearpath_mission_manager_msgs/srv/UpdateWaypoint | Update goal |
| mission_manager/validate_network_map | clearpath_mission_manager_msgs/srv/ValidateNetworkMap | Check validity of specific map |