5.1.5 LinkCraft Actions

The LinkCraft action interface retrieves the list of LinkCraft action resources deployed on the robot and triggers playback of a specified action.

Interface Description

Service Name	Data Type	Description
/aimdk_5Fmsgs/srv/GetRobotResources	GetRobotResources	Retrieve the list of resources on the robot
/aimdk_5Fmsgs/srv/ExecuteActionResource	ExecuteActionResource	Play the specified LinkCraft action resource

• GetRobotResources ros2-srv @ app_proxy/srv/GetRobotResources.srv

  # Retrieve the list of resources on the robot
  # Service name: /aimdk_5Fmsgs/srv/GetRobotResources
  
  # Request
  CommonRequest header         # Request header
  
  ---
  
  # Response
  CommonResponse header        # Response header
  RobotResource[] robot_resources  # List of on-robot resources
  

  • RobotResource ros2-msg @ app_proxy/msg/RobotResource.msg

    string resource_key            # Unique resource identifier
    CurrentVersion current_version    # Current version info
    

    • CurrentVersion ros2-msg @ app_proxy/msg/CurrentVersion.msg

      string version               # Version number
      string name                  # Resource name
      string[] files               # Resource file list
      uint64 download_timestamp_seconds         # Resource download timestamp
      

• ExecuteActionResource ros2-srv @ app_proxy/srv/ExecuteActionResource.srv

  # Play a LinkCraft action
  # Service name: /aimdk_5Fmsgs/srv/ExecuteActionResource
  
  # Request
  CommonRequest header         # Request header
  string resource_key          # Unique resource identifier (from GetRobotResources)
  string resource_version      # Resource version
  SlaveDevice[] slaves         # Slave device list (may be empty)
  string meta                  # Extension parameters in JSON format
  
  ---
  
  CommonResponse header        # Response header; header.header.code == 0 means success
  

  meta field format:

  Action Type	meta Value
  Full-body action (onnx)	{"resource_type": "BODY_MONTION"}
  Arm action	{"resource_type": "ARM_MONTION"}

  When resource_key contains onnx, it is a full-body action; otherwise, it is an arm action.

Programming Examples

For detailed programming examples and code descriptions, see:

• Python example: Play Linkcraft Action

• C++ example: Play Linkcraft Action

Caution

As standard ROS DO NOT handle cross-host service (request-response) well, please refer to SDK examples to use open interfaces in a robust way (with protection mechanisms e.g. exception safety and retransmission)