Interfaces
==========

Every message, service and action the stack exposes. These are the API contract between packages: if two nodes talk, they talk through one of these.

.. list-table::
   :header-rows: 1
   :widths: 40 15 45

   * - Package
     - Count
     - Provides
   * - :doc:`common_msgs`
     - 4
     - messages
   * - :doc:`conveyor_gripper_interfaces`
     - 3
     - messages, services
   * - :doc:`industrial_msgs`
     - 12
     - messages, services
   * - :doc:`jogging_interfaces`
     - 2
     - services
   * - :doc:`motion_control_interfaces`
     - 8
     - actions, messages, services
   * - :doc:`motion_planning_interfaces`
     - 37
     - messages, services
   * - :doc:`motoman_interfaces`
     - 13
     - messages, services
   * - :doc:`workcell_description_interfaces`
     - 29
     - messages, services
   * - :doc:`workcell_joint_broadcaster_interfaces`
     - 2
     - services

.. toctree::
   :maxdepth: 1
   :hidden:

   common_msgs
   conveyor_gripper_interfaces
   industrial_msgs
   jogging_interfaces
   motion_control_interfaces
   motion_planning_interfaces
   motoman_interfaces
   workcell_description_interfaces
   workcell_joint_broadcaster_interfaces