Action Servers

Action Server	Type	Description
robot_joint	rby1_msgs/Rby1JointCommand	Whole-body joint position command. Each body part (torso, right_arm, left_arm, head) can be commanded independently in a single goal.
robot_cartesian	rby1_msgs/Rby1CartesianCommand	Whole-body Cartesian command. Each arm and torso can be assigned a target pose.
follow_joint_trajectory	control_msgs/FollowJointTrajectory	Standard ROS 2 trajectory execution action server (used directly by MoveIt).
stream_joint	rby1_msgs/StreamJoint	Continuous joint trajectory streaming. Allows feeding joint stream commands sequentially over an active connection.
stream_cartesian	rby1_msgs/StreamCartesian	Continuous Cartesian trajectory streaming. Allows feeding Cartesian commands sequentially over an active connection.