Reference

Look up EROBS task fields, client interfaces, configuration settings, and functions. For step-by-step instructions, use the operator guides. For how the components work together, see architecture.

Choose a reference

Reference	What it covers
Module map	Which source files implement execution, perception, the GUI, and hardware integration, with links into the function reference.
Functions and methods	Function inputs, return values, failure behavior, and side effects. Browse by subsystem or use the symbol index.
Task JSON	Task types, fields, defaults, units, and examples for authoring task scripts.
ROS action contracts	Action endpoints and goal, result, and feedback fields for ROS clients.
MCP tools	Tool arguments, return formats, and effects, including which helpers only return task JSON.
Launch arguments	Bringup options, defaults, and the effect of enabling or disabling a subsystem.
Beamline configuration	Robot, tool, camera, and deployment settings, including how configuration is selected and loaded.
CMS configuration values	Values in the supplied CMS configuration; these are installation-specific.
Commands and startup scripts	Application entry points, startup wrappers, and their behavior.
Package index	ROS package responsibilities, build types, and declared dependencies.
Source browser	Code and configuration listings linked to the guides that explain them.
Documentation coverage	The documentation page associated with each source path.

Task fields and client interfaces

Use Task JSON when writing a task script and ROS action contracts when building a direct ROS client. The orchestrator translates task fields into action goals and supplies values such as resolved poses and the active tool configuration. The two formats are not interchangeable.

MCP tools have their own arguments and effects. A helper that returns task JSON does not execute it; check the tool’s entry before using it.