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AI Challenge Interfaces

This document defines all the interfaces available for participants to work with in the AI for Industry Challenge. It includes both standard ROS 2 interfaces and new interfaces specifically defined for this challenge.

The aic_interfaces folder contains custom message and action definitions that bridge the hardware and the Insertion Policy. These interfaces are crucial for developing solutions that interact with the robot and task environment.

Interface Overview

The challenge utilizes a combination of standard ROS 2 interfaces and custom interfaces defined in the aic_interfaces folder:

Standard ROS 2 Interfaces

Custom Interfaces (defined in aic_interfaces)

Inputs

The following topics provide sensory data and state information to the model.

Sensor Topics

Topic Message Type Description
/left_camera/image sensor_msgs/msg/Image Rectified image data from the left wrist camera.
/left_camera/camera_info sensor_msgs/msg/CameraInfo Calibration data for the left wrist camera.
/center_camera/image sensor_msgs/msg/Image Rectified image data from the center wrist camera.
/center_camera/camera_info sensor_msgs/msg/CameraInfo Calibration data for the center wrist camera.
/right_camera/image sensor_msgs/msg/Image Rectified image data from the right wrist camera.
/right_camera/camera_info sensor_msgs/msg/CameraInfo Calibration data for the right wrist camera.
/fts_broadcaster/wrench geometry_msgs/msg/WrenchStamped Force/Torque sensor data.
/joint_states sensor_msgs/msg/JointState Current state of the robot joints.
/gripper_state sensor_msgs/msg/JointState Current state of the end-effector/gripper.
/tf tf2_msgs/msg/TFMessage Transform data for dynamic coordinate frames.
/tf_static tf2_msgs/msg/TFMessage Transform data for static coordinate frames.

Action Servers

Action Name Action Type Description
/insert_cable aic_task_interfaces/action/InsertCable Trigger for the autonomous insertion task.

Controller Topics

The following topic provides high-frequency and real-time state telemetry data for monitoring and debugging.

Topic Message Type Description
/aic_controller/controller_state aic_control_interfaces/msg/ControllerState Data on current TCP pose and velocity, reference TCP pose, TCP tracking error and reference joint efforts.

Outputs

The Insertion Policy controls the robot by publishing to the following topics.

Command Topics

Topic Message Type Description
/aic_controller/joint_commands aic_control_interfaces/msg/JointMotionUpdate Target configurations for joint-space control.
/aic_controller/pose_commands aic_control_interfaces/msg/MotionUpdate Target poses for Cartesian-space control.

Note: The controller operates in mutually exclusive modes. For example, if the controller is in Cartesian target mode, it will process messages from the /aic_controller/pose_commands topic and ignore messages from /aic_controller/joint_commands. You must set the active target mode via the /aic_controller/change_target_mode service before the controller will accept commands of that type.

Controller Configuration

Services

Service Name Service Type Description
/aic_controller/change_target_mode aic_control_interfaces/srv/ChangeTargetMode Select the target mode (Cartesian or joint) to define the expected input. The controller will subscribe to either /aic_controller/pose_commands or /aic_controller/joint_commands accordingly.
/aic_controller/tare_force_torque_sensor std_srvs/srv/Trigger Service to tare the force/torque sensor. This service will be disabled during evaluation. The evaluation system will automatically call this service before the cable is spawned in the environment.