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kaushikbalasundarkaushikbalasundar
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WIP: Dynamic taskboard spawnin
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‎flowstate/aic_flowstate_interface/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(aic_flowstate_interface)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"srv/UpdateComponent.srv"
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)
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ament_package()

‎flowstate/aic_flowstate_interface/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>aic_flowstate_interface</name>
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<version>0.0.1</version>
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<description>The aic_flowstate_interface package provides custom ROS 2 services for the Flowstate Taskboard Spawner.</description>
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<maintainer email="kbalasundar@todo.todo">kbalasundar</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rosidl_default_generators</build_depend>
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<build_depend>builtin_interfaces</build_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<exec_depend>builtin_interfaces</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎flowstate/aic_flowstate_interface/srv/UpdateComponent.srv‎

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# Request
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string component_name # Key name of the rail/slot (e.g., "nic_rail_0", "lc_mount_rail_0")
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bool entity_present # Is the visual element active?
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string entity_name # Name of the instantiated entity (e.g., "lc_mount_0")
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float64 translation # Translation shift (along the URDF defined axis)
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float64 roll # Orientation override
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float64 pitch
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float64 yaw
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# Configurable Limits Override
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bool use_custom_limits # If true, the service will clamp to specified limits instead of system defaults
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float64 min_translation
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float64 max_translation
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---
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# Response
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bool success # True if parsing and instantiation was successful
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string message # Status feedback (e.g., if clamping occurred or missing asset)

‎flowstate/aic_flowstate_services/taskboard_spawning_service/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(taskboard_spawning_service)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(yaml-cpp REQUIRED)
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find_package(aic_flowstate_interface REQUIRED)
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find_package(intrinsic_sdk_cmake REQUIRED)
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# Include directories
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include_directories(include)
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# 1. Build Logic Library (Clean separation of concerns)
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add_library(taskboard_spawner_logic
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src/taskboard_spawner_logic.cc
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)
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target_link_libraries(taskboard_spawner_logic
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yaml-cpp
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)
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# 2. Build ROS 2 Node Executable
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add_executable(taskboard_spawner_node
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src/taskboard_spawner_node.cpp
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)
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target_link_libraries(taskboard_spawner_node
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taskboard_spawner_logic
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rclcpp::rclcpp
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intrinsic_sdk_cmake::intrinsic_sdk_cmake
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${aic_flowstate_interface_TARGETS}
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)
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# Install rules
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install(
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TARGETS taskboard_spawner_node
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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#===============================================================================
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# Generate Solution Manifest
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intrinsic_sdk_generate_service_manifest(
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SERVICE_NAME taskboard_spawner_node
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MANIFEST taskboard_spawning_service.manifest.textproto
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PARAMETER_DESCRIPTOR taskboard_spawning_service.proto
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DEFAULT_CONFIGURATION default_config.pbtxt
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PROTOS_TARGET taskboard_spawning_service_protos
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)
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# Force manifest generation
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add_dependencies(taskboard_spawner_node
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taskboard_spawner_node_manifest
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taskboard_spawner_node_default_config
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)
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# Move manifest files to expected subfolder for Dockerfile.service
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install(FILES
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${CMAKE_CURRENT_BINARY_DIR}/service_manifest.binarypb
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${CMAKE_CURRENT_BINARY_DIR}/default_config.binarypb
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${CMAKE_CURRENT_BINARY_DIR}/taskboard_spawner_node_protos.desc
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DESTINATION share/${PROJECT_NAME}/taskboard_spawner_node
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)
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ament_package()

‎flowstate/aic_flowstate_services/taskboard_spawning_service/default_config.pbtxt‎

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# proto-file: taskboard_spawning_service.proto
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# proto-message: TaskboardSpawningServiceConfig
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[type.googleapis.com/intrinsic.TaskboardSpawningServiceConfig] {
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# Standard YAML file path used instead of proto parameters
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# This is a placeholder config to satisfy Solution Manifest requirements
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}

‎flowstate/aic_flowstate_services/taskboard_spawning_service/include/taskboard_spawning_service/taskboard_spawner_constants.h‎

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// Copyright 2026 Intrinsic Innovation LLC
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// Confidential and Proprietary
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#ifndef AIC_FLOWSTATE_SERVICES_TASKBOARD_SPAWNING_SERVICE_TASKBOARD_SPAWNER_CONSTANTS_H_
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#define AIC_FLOWSTATE_SERVICES_TASKBOARD_SPAWNING_SERVICE_TASKBOARD_SPAWNER_CONSTANTS_H_
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namespace aic {
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namespace flowstate {
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// Environment variables and defaults
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constexpr char kAssetServerDefault[] = "localhost:50051";
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// Asset metadata
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constexpr char kPackageSideloaded[] = "ai.intrinsic";
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// Topic and Service Names
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constexpr char kUpdateComponentService[] = "/taskboard_spawner_service/update_component";
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// ROS Parameters
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constexpr char kParamConfigFile[] = "config_file_path";
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constexpr char kParamBaseX[] = "taskboard_base_x";
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constexpr char kParamBaseY[] = "taskboard_base_y";
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constexpr char kParamBaseZ[] = "taskboard_base_z";
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constexpr char kParamBaseYaw[] = "taskboard_base_yaw";
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} // namespace flowstate
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} // namespace aic
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#endif // AIC_FLOWSTATE_SERVICES_TASKBOARD_SPAWNING_SERVICE_TASKBOARD_SPAWNER_CONSTANTS_H_

‎flowstate/aic_flowstate_services/taskboard_spawning_service/include/taskboard_spawning_service/taskboard_spawner_logic.h‎

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#ifndef AIC_FLOWSTATE_SERVICES_TASKBOARD_SPAWNER_LOGIC_H_
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#define AIC_FLOWSTATE_SERVICES_TASKBOARD_SPAWNER_LOGIC_H_
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#include <string>
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#include <unordered_map>
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#include <vector>
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#include <yaml-cpp/yaml.h>
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namespace aic {
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namespace flowstate {
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/// Structure defining an entity pose (from YAML)
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struct EntityPose {
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double translation = 0.0;
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double roll = 0.0;
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double pitch = 0.0;
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double yaw = 0.0;
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};
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/// Structure representing limit ranges
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struct Range {
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double min_val = 0.0;
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double max_val = 0.0;
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};
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/// Structure representing a component state parsed from YAML
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struct ComponentConfig {
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bool entity_present = false;
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std::string entity_name;
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EntityPose pose;
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};
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class TaskboardSpawnerLogic {
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public:
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TaskboardSpawnerLogic() = default;
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/// Load trial configuration from a YAML file or string.
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bool LoadFromYaml(const std::string& yaml_file_path);
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bool LoadFromYamlNode(const YAML::Node& node);
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/// Compute the relative pose for a child component based on its offsets from the base.
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/// \param component_name Key name of the rail component (e.g., "nic_rail_0", "lc_mount_rail_0").
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/// \param out_x, out_y, out_z, out_qx, out_qy, out_qz, out_qw The resulting relative pose.
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bool ComputeRelativePose(
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const std::string& component_name,
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double& out_x, double& out_y, double& out_z,
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double& out_qx, double& out_qy, double& out_qz, double& out_qw);
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/// Check if translation is within limits for a component.
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bool IsWithinLimits(const std::string& component_name, double translation,
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double custom_min = 0.0, double custom_max = 0.0,
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bool use_custom_limits = false) const;
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/// Get the component config parsed from YAML.
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const std::unordered_map<std::string, ComponentConfig>& GetComponents() const {
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return components_;
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}
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private:
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std::unordered_map<std::string, ComponentConfig> components_;
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std::unordered_map<std::string, Range> standard_limits_;
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void InitializeDefaultLimits();
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bool GetUrdfBaseOffset(const std::string& component_name,
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double& offset_x, double& offset_y, double& offset_z,
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double& init_roll, double& init_pitch, double& init_yaw) const;
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};
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} // namespace flowstate
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} // namespace aic
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#endif // AIC_FLOWSTATE_SERVICES_TASKBOARD_SPAWNER_LOGIC_H_

‎flowstate/aic_flowstate_services/taskboard_spawning_service/include/taskboard_spawning_service/taskboard_spawner_node.h‎

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// Copyright 2026 Intrinsic Innovation LLC
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// Confidential and Proprietary
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#ifndef AIC_FLOWSTATE_SERVICES_TASKBOARD_SPAWNING_SERVICE_TASKBOARD_SPAWNER_NODE_H_
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#define AIC_FLOWSTATE_SERVICES_TASKBOARD_SPAWNING_SERVICE_TASKBOARD_SPAWNER_NODE_H_
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#include "taskboard_spawning_service/taskboard_spawner_logic.h"
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#include <rclcpp/rclcpp.hpp>
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#include "aic_flowstate_interface/srv/update_component.hpp"
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#include <grpcpp/grpcpp.h>
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#include "intrinsic/assets/proto/asset_deployment.grpc.pb.h"
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#include "intrinsic/assets/proto/installed_assets.grpc.pb.h"
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#include "intrinsic/world/proto/object_world_service.grpc.pb.h"
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#include "google/longrunning/operations.grpc.pb.h"
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#include <memory>
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#include <string>
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namespace aic {
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namespace flowstate {
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class TaskboardSpawnerNode : public rclcpp::Node {
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public:
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TaskboardSpawnerNode();
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virtual ~TaskboardSpawnerNode() = default;
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private:
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void InitGrpcStubs();
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void SpawnFromConfig(const std::string& config_path);
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bool SpawnComponent(const std::string& component_type, const std::string& instance_name,
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double x, double y, double z, double rx_or_qx, double ry_or_qy, double rz_or_qz,
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double rw = 1.0, bool use_quat = false, const std::string& parent_name = "");
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bool RemoveComponent(const std::string& entity_name);
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void HandleUpdateComponent(
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const std::shared_ptr<aic_flowstate_interface::srv::UpdateComponent::Request> request,
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std::shared_ptr<aic_flowstate_interface::srv::UpdateComponent::Response> response);
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TaskboardSpawnerLogic logic_;
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// Grpc Stubs
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std::unique_ptr<intrinsic_proto::assets::AssetDeploymentService::Stub> asset_deployment_stub_;
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std::unique_ptr<intrinsic_proto::assets::v1::InstalledAssets::Stub> installed_assets_stub_;
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std::unique_ptr<intrinsic_proto::world::ObjectWorldService::Stub> object_world_stub_;
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std::unique_ptr<google::longrunning::Operations::Stub> operations_stub_;
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rclcpp::Service<aic_flowstate_interface::srv::UpdateComponent>::SharedPtr update_service_;
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};
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} // namespace flowstate
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} // namespace aic
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#endif // AIC_FLOWSTATE_SERVICES_TASKBOARD_SPAWNING_SERVICE_TASKBOARD_SPAWNER_NODE_H_

‎flowstate/aic_flowstate_services/taskboard_spawning_service/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>taskboard_spawning_service</name>
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<version>0.0.1</version>
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<description>The taskboard_spawning_service package provides a ROS 2 node to dynamically spawn and position context-aware visual elements from a catalog in the Flowstate workspace.</description>
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<maintainer email="kbalasundar@todo.todo">kbalasundar</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>yaml-cpp</depend>
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<depend>aic_flowstate_interface</depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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