---
###### tags: `ROS`
---
# Action
## /Arm.action

|Type|Variable|Value|
|-|-|-|
| uint8|ARM_STOP|0 |
| uint8|ARM_DEPLOY|1 |
| uint8|ARM_STOW|2 |
| uint8|ARM_PAN|3 |
| uint8|ARM_TILT|4 |
| uint8|ARM_MOVE|5 |
| uint8|GRIPPER_SET|6 |
| uint8|GRIPPER_OPEN|7 |
| uint8|GRIPPER_CLOSE|8 |
| uint8|DISABLE_SERVO|9 |
| int32|SUCCESS|1 |
| int32|PREEMPTED|0 |
| int32|INVALID_COMMAND|-1 |
| int32|BAD_TILT_VALUE|-2 |
| int32|BAD_PAN_VALUE|-3 |
| int32|BAD_GRIPPER_VALUE|-4 |
| int32|NOT_ALLOWED|-5 |
| int32|TILT_FAILED|-6 |
| int32|PAN_FAILED|-7 |
| int32|GRIPPER_FAILED|-8 |
| int32|COMMUNICATION_ERROR|-9 |
| int32|COLLISION_AVOIDED|-10 |
| int32|ENABLE_FAILED|-11 |
| int32|DISABLE_FAILED|-12 |
| int32|CALIBRATE_FAILED|-13 |
| int32|NO_GOAL|-14 |

## /Control.action

|Type|Variable|Value|
|-|-|-|
| uint8|STOP|0 |
| uint8|IDLE|1 |
| uint8|NOMINAL|2 |
| int32|SUCCESS|1 |
| int32|PREEMPTED|0 |
| int32|CANCELLED|-1 |
| int32|CONTROL_FAILED|-2 |
| int32|EMPTY_SEGMENT|-3 |
| int32|INVALID_COMMAND|-4 |
| int32|TIMESYNC_ISSUE|-5 |

## /Dock.action

|Type|Variable|Value|
|-|-|-|
| uint8|DOCK|1 |
| uint8|UNDOCK|2 |
| uint8|BERTH_UNKNOWN|0 |
| uint8|BERTH_1|1 |
| uint8|BERTH_2|2 |
| int32|CANCELLED|5 |
| int32|ALREADY_DOCKED|4 |
| int32|ALREADY_UNDOCKED|3 |
| int32|UNDOCKED|2 |
| int32|DOCKED|1 |
| int32|PREEMPTED|0 |
| int32|INVALID_COMMAND|-1 |
| int32|INVALID_BERTH|-2 |
| int32|NOT_IN_UNDOCKED_STATE|-3 |
| int32|NOT_IN_DOCKED_STATE|-4 |
| int32|SWITCH_TO_ML_FAILED|-5 |
| int32|SWITCH_TO_AR_FAILED|-6 |
| int32|SWITCH_TO_NO_FAILED|-7 |
| int32|PREP_DISABLE_FAILED|-8 |
| int32|PREP_ENABLE_FAILED|-9 |
| int32|MOTION_APPROACH_FAILED|-10 |
| int32|MOTION_COMPLETE_FAILED|-11 |
| int32|MOTION_ATTACHED_FAILED|-12 |
| int32|EPS_UNDOCK_FAILED|-13 |
| int32|EPS_DOCK_FAILED|-14 |
| int32|TOO_FAR_AWAY_FROM_APPROACH|-15 |

## /Localization.action

|Type|Variable|Value|
|-|-|-|
| uint8|COMMAND_UNKNOWN|0 |
| uint8|COMMAND_SWITCH_PIPELINE|1 |
| uint8|COMMAND_RESET_FILTER|2 |
| uint8|COMMAND_ESTIMATE_BIAS|3 |
| string|PIPELINE_NONE|no |
| string|PIPELINE_MAP_LANDMARKS|ml |
| string|PIPELINE_AR_TAGS|ar |
| string|PIPELINE_HANDRAIL|hr |
| string|PIPELINE_PERCH|pl |
| string|PIPELINE_TRUTH|gt |
| int32|PIPELINE_ALREADY_ACTIVE|2 |
| int32|SUCCESS|1 |
| int32|PREEMPTED|0 |
| int32|CANCELLED|-1 |
| int32|INVALID_PIPELINE|-2 |
| int32|INVALID_COMMAND|-3 |
| int32|FILTER_NOT_IN_USE|-4 |
| int32|OPTICAL_FLOW_FAILED|-5 |
| int32|PIPELINE_TOGGLE_FAILED|-6 |
| int32|PIPELINE_USE_FAILED|-7 |
| int32|PIPELINE_UNSTABLE|-8 |
| int32|SET_INPUT_FAILED|-9 |
| int32|ESTIMATE_BIAS_FAILED|-10 |
| int32|RESET_FAILED|-11 |

## /Motion.action

|Type|Variable|Value|
|-|-|-|
| uint8|STOP|0 |
| uint8|IDLE|1 |
| uint8|EXEC|2 |
| uint8|MOVE|3 |
| uint8|PREP|4 |
| string|OFF|off |
| string|NOMINAL|nominal |
| string|DIFFICULT|difficult |
| string|QUIET|quiet |
| string|PERCHING|perching |
| string|UNPERCHING|unperching |
| string|DOCKING|docking |
| string|UNDOCKING|undocking |
| int32|ALREADY_THERE|2 |
| int32|SUCCESS|1 |
| int32|PREEMPTED|0 |
| int32|PLAN_FAILED|-1 |
| int32|VALIDATE_FAILED|-2 |
| int32|PMC_FAILED|-3 |
| int32|CONTROL_FAILED|-4 |
| int32|OBSTACLE_DETECTED|-5 |
| int32|REPLAN_NOT_ENOUGH_TIME|-6 |
| int32|REPLAN_FAILED|-7 |
| int32|REVALIDATE_FAILED|-8 |
| int32|NOT_IN_WAITING_MODE|-9 |
| int32|INVALID_FLIGHT_MODE|-10 |
| int32|UNEXPECTED_EMPTY_SEGMENT|-11 |
| int32|COULD_NOT_RESAMPLE|-12 |
| int32|UNEXPECTED_EMPTY_STATES|-13 |
| int32|INVALID_COMMAND|-14 |
| int32|CANNOT_QUERY_ROBOT_POSE|-15 |
| int32|NOT_ON_FIRST_POSE|-16 |
| int32|BAD_DESIRED_VELOCITY|-17 |
| int32|BAD_DESIRED_ACCELERATION|-18 |
| int32|BAD_DESIRED_OMEGA|-19 |
| int32|BAD_DESIRED_ALPHA|-20 |
| int32|BAD_DESIRED_RATE|-21 |
| int32|TOLERANCE_VIOLATION_POSITION|-22 |
| int32|TOLERANCE_VIOLATION_ATTITUDE|-23 |
| int32|TOLERANCE_VIOLATION_VELOCITY|-24 |
| int32|TOLERANCE_VIOLATION_OMEGA|-25 |
| int32|VIOLATES_RESAMPLING|-26 |
| int32|VIOLATES_KEEP_OUT|-27 |
| int32|VIOLATES_KEEP_IN|-28 |
| int32|VIOLATES_MINIMUM_FREQUENCY|-29 |
| int32|VIOLATES_STATIONARY_ENDPOINT|-30 |
| int32|VIOLATES_FIRST_IN_PAST|-31 |
| int32|VIOLATES_MINIMUM_SETPOINTS|-32 |
| int32|VIOLATES_HARD_LIMIT_VEL|-33 |
| int32|VIOLATES_HARD_LIMIT_ACCEL|-34 |
| int32|VIOLATES_HARD_LIMIT_OMEGA|-35 |
| int32|VIOLATES_HARD_LIMIT_ALPHA|-36 |
| int32|CANCELLED|-37 |
| int32|INVALID_REFERENCE_FRAME|-38 |

## /Perch.action

|Type|Variable|Value|
|-|-|-|
| uint8|PERCH|1 |
| uint8|UNPERCH|2 |
| int32|CANCELLED|5 |
| int32|ALREADY_PERCHED|4 |
| int32|ALREADY_UNPERCHED|3 |
| int32|UNPERCHED|2 |
| int32|PERCHED|1 |
| int32|PREEMPTED|0 |
| int32|INVALID_COMMAND|-1 |
| int32|NOT_IN_UNPERCHED_STATE|-2 |
| int32|NOT_IN_PERCHED_STATE|-3 |
| int32|SWITCH_FAILED|-4 |
| int32|MOTION_FAILED|-5 |
| int32|ARM_FAILED|-6 |

## /Plan.action

|Type|Variable|Value|
|-|-|-|
| int32|ALREADY_THERE|3 |
| int32|CANCELLED|2 |
| int32|SUCCESS|1 |
| int32|PREEMPTED|0 |
| int32|NOT_ENOUGH_STATES|-1 |
| int32|OBSTACLES_NOT_SUPPORTED|-2 |
| int32|BAD_STATE_TRANSITION|-3 |
| int32|CANNOT_LOAD_FLIGHT_DATA|-4 |
| int32|CANNOT_LOAD_GENERAL_CONFIG|-5 |
| int32|NO_PATH_EXISTS|-6 |
| int32|PROBLEM_CONNECTING_TO_SERVICES|-7 |
| int32|BAD_ARGUMENTS|-8 |