Glossary
Terms used in the architecture section, alphabetically. Search or use the letter jumps.
A
AttachmentPortCoordinator port that attaches or detaches a product across Gazebo, the planning scene, and world-state semantics. Supports Full / PhysicalOnly / SemanticOnly scopes for place-detach splits.see ports
C
ColourDepthBackendClassical RGB-D perception backend: chromaticity segmentation plus cylinder depth fit. Not a neural net. Default camera producer when perception:=true.see perception and models
D
DoFDegree of freedom: an independent joint that can be commanded. The restocker has a prismatic rail plus a six-joint arm and a parallel-jaw gripper.see workcell and frames
F
Fail closedPolicy that stops or refuses rather than guessing when evidence is stale, reservations are orphaned, or outcomes cannot be proven.see task execution
FollowJointTrajectoryAction interface ros2_control trajectory controllers expose. MoveIt execution sends timed joint paths through this interface into Gazebo via gz_ros2_control.see simulation
G
grasp_centerNamed frame on the gripper used as the semantic grasp target. Candidates are computed there, then converted to tool0 goals for the kinematic chain.see workcell and frames
GripperPortCoordinator port that commands one jaw opening and independently verifies finger positions against the attachment band (0.5 mm), not the controller’s looser goal tolerance.see ports
gz_ros2_controlGazebo system plugin that presents simulated joints as a ros2_control hardware interface so the same controllers work in simulation.see simulation
L
Lane contentsSemantic membership of products in a shelf lane. Added by reservation-authorized placement commits; accepted lane surveys can reconcile FIFO sales and remove entries. Raw observations cannot directly commit inventory.see world state
M
MotionPortCoordinator port that plans and executes one trajectory segment in a single submission. Outcomes classify “nothing commanded” versus “arm may have moved.”see ports
O
OMPLOpen Motion Planning Library. Baseline planners (RRTConnect) used by MoveIt. Accelerated planners stay out of the default pipeline until they plug in through the same MoveIt interface.see motion planning
Optical frameCamera frame with image-aligned axes per REP-103 (+Z forward, +X right, +Y down). Image and CameraInfo topics stamp optical frames, not body links.see workcell and frames
P
Planning sceneMoveIt’s collision world: robot state plus collision objects. Geometry for safety, not a product database. Fed by the planning-scene projector.see motion planning
Planning-scene projectorNode that copies enough geometry from world state and depth obstacle evidence (enabled by default) into MoveIt under leases, then gates motion on APPLIED status + revision.see motion planning
R
ReasonerOptional advisory recovery client (HTTP, strict JSON). May only select among enumerated recovery primitives and never escalate aggressiveness. Off by default.see perception and models
Reservation tokenOpaque capability returned by world-state reserve services. Required for semantic attachment/detachment commits. Never logged or snapshotted; orphaned tokens inhibit admission.see world state
RestockProductPublic action API. Optional object/lane selectors; feedback carries task state; result is a typed terminal status judged against world state.see task execution
RRTConnectBidirectional rapidly exploring random tree planner. Default OMPL planner for the manipulator group in this project.see motion planning
S
SRDFSemantic Robot Description Format for MoveIt: planning groups, disabled collisions, and end-effector definitions.see packages
T
tool0Nominal tool-tip parent frame on the flange chain. MoveIt solves end-effector goals to tool0; grasp planning still targets grasp_center semantically.see workcell and frames
W
World stateAuthoritative C++ store for product identity, lane membership, robot execution semantics, revisions, and reservations. Perception refreshes evidence; authorized commits add contents and accepted surveys reconcile FIFO sales.see world state
WorldStatePortCoordinator port for snapshots, reservations, validation, and semantic attach/detach commits. Mutation replies carry opaque tokens.see ports