ROS2 Task Orchestrator

ROS2 Task Orchestrator is an open-source ROS2 package for starting, tracking, cancelling and composing robot tasks through a stable ROS2-native API.

The project is designed as an edge task layer. Existing ROS2 actions and services keep implementing robot behavior; the orchestrator provides a common entry point, task state, results, feedback and events.

ROS2 Distribution Support

Distribution	Status	Notes
Humble	Supported	Minimum supported distribution.
Jazzy	Supported	Current CI target.
Lyrical	Planned	Added after build and CI validation.
Foxy	Planned legacy	Best-effort source compatibility for legacy robots.

Foxy is end-of-life upstream and will not be part of the default CI matrix. Lyrical is the current ROS2 release line and is tracked as the next support target.

Packages

• task_orchestrator_msgs: public ROS2 messages, services and actions.
• task_orchestrator_core: core orchestrator node and task lifecycle logic.
• task_orchestrator_examples: example configs and launch files.

Build

source /opt/ros/humble/setup.bash
colcon build --symlink-install
source install/setup.bash

Run

ros2 launch task_orchestrator_core task_orchestrator.launch.py

Docker

docker build --build-arg ROS_DISTRO=humble -f docker/Dockerfile -t ros-task-orchestrator:humble .
docker run --rm --network host ros-task-orchestrator:humble \
  ros2 launch task_orchestrator_core task_orchestrator.launch.py

For Jazzy:

docker build --build-arg ROS_DISTRO=jazzy -f docker/Dockerfile -t ros-task-orchestrator:jazzy .

Documentation

• Docs Home: overview and navigation.
• Getting Started: build, run and first task.
• Task YAML: declare service/action-backed tasks.
• Public API: actions, topics and services.
• Observability: events, feedback and structured logs.
• SQLite Storage: optional durability.
• Recovery: late-client and restart recovery.
• Nav2 Example: navigation task config.
• Architecture: core boundaries and runtime shape.

License

Apache-2.0