For detailed information about the code, build the code documentation using Doxygen. see capabilities2_documentation.
# in the devcontainer
cd capabilities2_documentation
doxygen DoxyfileA basic tutorial can be found in here. This tutorial will guide you through the process of creating a simple capability and running it.
The capabilities server is the main node in the capabilities2 package. It is responsible for managing capabilities, providers, and semantic interfaces. It is also responsible for starting and stopping capabilities.
A capabilities runner is a plugin that allows capabilities to be executed in a more arbitrary way. Base runner classes can be used to create custom runners for a given application. See the capabilities2_runner package for more information.
This package contains messages for the capabilities2 package. See the capabilities2_msgs package for more information.
The capabilities launch proxy is a node that uses the Python launch API to start and stop launch files. It is used by the launch runner to start and stop launch files. See the capabilities2_launch_proxy package for more information.