Skills and Missions

Skills are discrete actions the robot can execute on demand or as part of a navigation waypoint. They provide a simple, scriptable way to chain behavior without writing custom ROS nodes.

Built-in Skills

Skill	Description
wait	Pause for a configured duration before continuing the sequence.
capture_image	Capture a frame from a configured camera topic and save it as a JPEG.
play_audio	Play a clip from the text-to-speech audio library.

The capture_image skill is tuned through the following configuration parameters:

Parameter	Type	Description	Default
skill_capture_image_topic	string	sensor_msgs/Image topic used by capture_image.	camera/color/image_raw
skill_capture_image_timeout_sec	float	Frame-capture deadline, clamped to [0.1, 60.0].	5.0
skill_capture_image_quality	int	JPEG quality, 1–100.	90

Captured images are written to the package images/ directory. The play_audio skill accepts a clip parameter and a wait boolean (default true).

Skill Sequences

Each navigation waypoint can carry an ordered list of skills that execute strictly one at a time, stopping on the first failure. A waypoint assignment may be:

• A skill-name string, for example "wait" — equivalent to a single step with empty parameters.

• A single step object, {"skill": "<name>", "params": {...}}.

• A list mixing either of the above.

Missions

Every recorded arm waypoint set (see Manipulation) is automatically registered as a mission_<name> skill. This lets a navigation waypoint drive to a location and then run a recorded arm motion as part of the same sequence.

The skill roster can be refreshed without restarting the webserver. Reloads are rate-limited to one per 60 seconds and are rejected while any sequence is currently running.

Skill Endpoints

For integration, skills are exposed over the API:

Endpoint	Purpose
/skills/types	List available skill types.
/skills/missions	List registered missions.
/skills/reload	Refresh the skill roster.
/skills/execute	Execute a skill or sequence.
/skills/cancel	Cancel the active sequence.
/skills/status	Report current execution status.