rayasdk

Copyright 2020 Unlimited Robotics

Unlimited Robotics SDK

Components versions:

• Ra-Ya Simulator 1.0.4
• Ra-Ya OS 1.0.6
• Ra-Ya Python Library 2.8.16
• Ra-Ya Simulation Workspace 1.0.8
• GGS

Usage

$ rayasdk [-h] [-v | -q] command {command-options}

Optional arguments:

• -h, --help: show this help message and exit.
• -v, --verbose: increase output verbosity.
• -q, --quiet: don't print on stdout.

Positional arguments:

• command: SDK Command

Commands:

• simulator: runs the simulator and the bringup.
• init: initialize Raya project in current folder.
• scan: discover robots in the local network.
• connect: connect current raya proyect to a robot or simulator.
• run: execute current Raya project.
• kill: kill all the Ra-Ya related containers.

Docker container

All the Ra-Ya related stuff is execute inside the Ra-Ya container. It includes:

• Ra-Ya bringup (including the bridge)
• Robots scanner
• Applications

Thanks to this, the developer doesn't need to install anything in their computer.

Each time the rakasdk is executed, it verifies the existence of the image (see method check_container in the file docker_handler.py). It checks the image tag acording to the constants in the file constants.py:

Image tag format:

{RAYAENV_DOCKER_IMGNAME}:{RAYAENV_DOCKER_VERSION}

For example, when RAYAENV_DOCKER_IMGNAME=raya_os and RAYAENV_DOCKER_VERSION=0.5.0, it looks for the image:

raya_os:0.5.0

If it doesn't find the image, it download it as a tar.gz file from the link RAYAENV_DOCKER_URL and match its sha256 checksum with the one in RAYAENV_DOCKER_SHA256. Then, it stores the image in a temporal folder (RAYAENV_DOCKER_IMGPATH) and load it in the docker system. After that, the image is ready for future uses.

Commands

simulator

This command checks for the existence of the simulator in the path SIM_PATH. (looks for the version GARYSIM_VERSION). If it doens't find it, it's downloaded from GARYSIM_URL and checked with the sha256 checksum GARYSIM_SHA256.

If the simulator is avaiable, it launch it, and also launches the ra-ya bringup in a new container named:

{RAYAENV_DOCKER_CONTAINERPREFIX}_simbridge

init

Initialize Raya project in current folder.

Usage:

$ rayasdk init [-h] --app-id APP_ID [--app-name APP_NAME]

Required arguments:

• --app-id APP_ID: application unique identificator

Optional arguments:

• --app-name APP_NAME: application name
• -h, --help: show this help message and exit

Example:

$ urdsk init --app-id helloworld --app-name 'Hello World'

scan

Discover robots in the local network.

Usage:

$ rayasdk scan [-h]

Optional arguments:

• -h, --help: show this help message and exit.

Example:

$ rayasdk scan

Output:

Scanning local network for robots...

Robot ID        IP Address       DDS Channel
--------------  -------------  -------------
GARY_KITCHEN    193.168.20.36              3
GARY_2665232    193.168.20.76              1
GARY_RECEPTION  193.168.20.12              2

The scanner runs in a new container named:

{RAYAENV_DOCKER_CONTAINERPREFIX}_scanner

connect

Connect current raya proyect to a robot or simulator.

Usage:

usage: rayasdk connect [--robot-id ROBOT_ID | --simulator]

Required mutually exclusive arguments:

• --robot-id ROBOT_ID: robot identificator (from scan list).
• --simulator: connect the project to the simulator.

Optional arguments:

• -h, --help: show this help message and exit.

run

Execute current Raya project.

Usage:

usage: rayasdk run [--local]

Optional arguments:

• --local: executes the application inside the robot.
• -h, --help: show this help message and exit.

The applications runs in a new container named:

{RAYAENV_DOCKER_CONTAINERPREFIX}_<app_id>