Supported Types

EMOS components automatically create subscribers and publishers for all inputs and outputs. This page provides a comprehensive reference of all natively supported ROS 2 message types across the full EMOS stack – the orchestration layer (Sugarcoat), intelligence layer (EmbodiedAgents), and navigation layer (Kompass).

When defining a Topic, you pass the message type as a string (e.g., Topic(name="/image", msg_type="Image")). The framework handles all serialization, callback creation, and type conversion automatically.

Standard Messages

Message	ROS 2 Package	Description
String	std_msgs	Standard text message
Bool	std_msgs	Boolean value
Float32	std_msgs	Single-precision float
Float32MultiArray	std_msgs	Array of single-precision floats
Float64	std_msgs	Double-precision float
Float64MultiArray	std_msgs	Array of double-precision floats
Audio	std_msgs	Raw audio bytes, carried as a ByteMultiArray

Geometry Messages

Message	ROS 2 Package	Description
Point	geometry_msgs	3D point (x, y, z)
PointStamped	geometry_msgs	Timestamped 3D point
Pose	geometry_msgs	Position + orientation
PoseStamped	geometry_msgs	Timestamped pose
PoseWithCovariance	geometry_msgs	Pose with its uncertainty
PoseWithCovarianceStamped	geometry_msgs	Timestamped pose with its uncertainty
Twist	geometry_msgs	Linear + angular velocity
TwistStamped	geometry_msgs	Timestamped velocity

Sensor Messages

Message	ROS 2 Package	Description
Image	sensor_msgs	Raw image data
CompressedImage	sensor_msgs	Compressed image (JPEG, PNG)
LaserScan	sensor_msgs	2D lidar scan
PointCloud2	sensor_msgs	3D point cloud
CameraInfo	sensor_msgs	Camera calibration and metadata
JointState	sensor_msgs	Instantaneous joint position, velocity, and effort
Imu	sensor_msgs	Inertial measurement: orientation, angular velocity, linear acceleration
Range	sensor_msgs	A single-beam range sensor such as an ultrasound or infrared sensor
NavSatFix	sensor_msgs	A satellite navigation fix

Navigation Messages

Message	ROS 2 Package	Description
Odometry	nav_msgs	Robot position and velocity
Path	nav_msgs	Array of poses for navigation
MapMetaData	nav_msgs	Map resolution, size, origin
OccupancyGrid	nav_msgs	2D grid map with occupancy probabilities

Intelligence Messages

These types are defined by EmbodiedAgents for AI component communication.

Message	ROS 2 Package	Description
StreamingString	automatika_embodied_agents	String chunk for streaming applications (e.g., LLM tokens)
Video	automatika_embodied_agents	A sequence of image frames
Detections	automatika_embodied_agents	2D bounding boxes with labels and confidence scores
DetectionsMultiSource	automatika_embodied_agents	Detections from multiple input sources
PointsOfInterest	automatika_embodied_agents	Specific 2D coordinates of interest within an image
Trackings	automatika_embodied_agents	Object tracking data including IDs, labels, and trajectories
TrackingsMultiSource	automatika_embodied_agents	Object tracking data from multiple sources
Detections3D	automatika_embodied_agents	Metric 3D boxes with labels, scores and depth validity, in a named frame
Decision	automatika_embodied_agents	A decision model’s answer to one question: the question’s id and type, the choice, score or noul (probability of yes) answer with its confidence, and the options with their probabilities
VisionLanguageAction (action)	automatika_embodied_agents	A task instruction for the VLA and Cortex action servers
MoveManipulator (action)	automatika_embodied_agents	A motion goal for the MoveIt component: pose, joints, named, Cartesian, pick or place

Navigation-Specific Messages

These types are defined by Kompass for navigation component communication.

Message	ROS 2 Package	Description
TwistArray	kompass_interfaces	Array of velocity commands for trajectory candidates
MissionStatus	kompass_interfaces	Progress and state of a multi-waypoint mission
MultiGoalPlanPath (action)	kompass_interfaces	A mission: waypoints with dwell, condition and timeout policy

Hardware Interface Messages

Message	ROS 2 Package	Description
RGBD	realsense2_camera_msgs	Synchronized RGB and Depth image pair
JointTrajectoryPoint	trajectory_msgs	Position, velocity, and acceleration for joints at a specific time
JointTrajectory	trajectory_msgs	A sequence of waypoints for joint control
JointJog	control_msgs	Immediate displacement or velocity commands for joints