Interfaces

The rosetta_interfaces package: three actions and three services. The nodes also use std_srvs/srv/Trigger and std_srvs/srv/SetBool.

Actions

RecordEpisode

Server: episode_recorder_node, /record_episode.

Goal	Type	Meaning
prompt	string	Task label stored in the bag. Empty uses default_prompt.
max_duration_s	float64	Zero uses default_max_duration_s.

Result	Type	Meaning
termination_reason	string	stopped, timeout, cancelled, node_deactivated, error
message	string
bag_path	string
messages_written	int32

Feedback: elapsed_s float64, messages_written int32.

RunPolicy

Server: policy_runner_node, /run_policy.

Goal	Type	Meaning
prompt	string	Task string passed to the policy.
max_duration_s	float64	Zero uses default_max_duration_s.

Result	Type	Meaning
termination_reason	string	completed, timeout, cancelled, node_deactivated, error
message	string

Feedback: published_actions uint32, queue_depth uint32.

ManageEpisode

Server: hil_manager_node, /manage_episode.

Goal	Type	Meaning
prompt	string
max_duration_s	float64
success_reward_threshold	float64	Zero disables.

Result	Type	Meaning
termination_reason	string	stopped, timeout, reward_threshold, cancelled, node_deactivated, error
outcome	string	success, failure, unlabeled
message	string
bag_path	string
final_reward	float64
messages_written	int32

Feedback: elapsed_s float64, current_reward float64, control_source string (policy or teleop), outcome string, messages_written int32.

Services

Service	Request	Response
StartRecording	prompt string	accepted bool, message string
StartPolicy	prompt string	accepted bool, message string
StartHILEpisode	prompt string, max_duration_s float64, success_reward_threshold float64	accepted bool, message string

A start service returns as soon as the work is accepted. Work started this way has no goal. Stop it with the matching cancel service, or let default_max_duration_s end it. Neither StartRecording nor StartPolicy has a duration field. Both use default_max_duration_s.