README
¶
RDK (Robot Development Kit)
Viam provides an open source robot architecture that provides robotics functionality via simple APIs
Website: viam.com
Documentation: docs.viam.com
Cloud App: app.viam.com
Contact
- Discord: https://discord.gg/viam
- Support: https://support.viam.com
If you have a bug or an idea, please open an issue in our JIRA project.
Building and Using
Dependencies
- Install
make. - Run
make setupto install dev environment requirements.- This also installs some client side git hooks.
Build and Run
- Build:
make server. Then run./bin/<your architecture>/server [parameters] - Run without building:
go run web/cmd/server/main.go [parameters]
Example with a dummy configuration: go run web/cmd/server/main.go -config etc/configs/fake.json. Then visit http://localhost:8080 to access remote control.
Examples
- SimpleServer - example for creating a simple custom server.
- MySensor - example for creating a custom sensor.
- MyComponent - example for creating a custom resource subtype.
SDKs
Multiple SDKs are available for writing client applications that interface with the Viam RDK.
- Go: Provided by this repository here. Documentation can be found here
- Python: Docs, Repository
- Rust: Repository
Development
Sign the Contribution Agreement before submitting pull requests.
API
The API is defined with Protocol Buffers/gRPC which can be found at https://github.com/viamrobotics/api.
Conventions
- Write tests!
- Follow this Go Style Guide.
- Run
make lintandmake test. - Run
make buildand commit resulting frontend artifacts. - Use imperative mood for commits (see Git Documentation).
- Prefer metric SI prefixes where possible (e.g. millis) https://www.nist.gov/pml/weights-and-measures/metric-si-prefixes. The type of measurement (e.g. meters) is not necessary if it is implied (e.g. rulerLengthMillis).
Committing
- Follow git's guidance on commit messages:
Describe your changes in imperative mood, e.g. "make xyzzy do frotz" instead of "[This patch] makes xyzzy do frotz" or "[I] changed xyzzy to do frotz", as if you are giving orders to the codebase to change its behavior. Try to make sure your explanation can be understood without external resources. Instead of giving a URL to a mailing list archive, summarize the relevant points of the discussion.
Frontend
See documentation in Frontend Readme.
To start the client development environment, first run the same go run command mentioned in Building and Using, but with the environmental variable ENV=development (e.g. ENV=development go run web/cmd/server/main.go -debug -config etc/configs/fake.json).
Then navigate to web/frontend and run npm start in a new terminal tab. Visit localhost:8080 to view the app, not localhost:5173. The latter is a hot module replacement server that rebuilds frontend asset changes.
Frontend against a remote host
See documentation in Direct Remote Control.
License check
We run LicenseFinder in CI to verify 3rd-party libraries have approved software licenses.
If you add a 3rd-party library to this project, please run make license-check to verify that it can be used.
For maintainers, here is how to make some common license policy changes:
Permit a new license (e.g. MIT):
https://github.com/pivotal/LicenseFinder#permitting-licenses
license_finder permitted_licenses add MIT
Associate a license with a dependency that is not automatically detected or incorrect:
https://github.com/pivotal/LicenseFinder#setting-licenses
license_finder licenses add my_new_dependency MIT
Approve a dependency outright - please include a reason if you do this!
https://github.com/pivotal/LicenseFinder#approving-dependencies
license_finder approvals add my_new_dependency --why="valid reason"
Please refer to the README at https://github.com/pivotal/LicenseFinder for information on how to make other license policy changes.
Windows Support (Experimental)
Windows 10 22H2 and up.
Development Dependencies
- bash (from https://gitforwindows.org/ is good)
- gcc (from https://www.msys2.org/
mingw-w64-x86_64-toolchainis good)
Support is not well tested yet.
Known Issues
- motion planning is not supported yet (https://viam.atlassian.net/browse/RSDK-1772).
- video streaming is not supported yet (https://viam.atlassian.net/browse/RSDK-1771).
- rpc: ICE between local connections found via ICE mDNS appear to be flaky in the establishment phase.
License
Copyright 2021-2022 Viam Inc.
AGPLv3 - See LICENSE file
Documentation
Source Files
Directories
¶
| Path | Synopsis |
|---|---|
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Package cli contains all business logic needed by the CLI command.
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Package cli contains all business logic needed by the CLI command. |
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viam
Package main is the CLI command itself.
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Package main is the CLI command itself. |
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cmd
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dump_resources
Package main dumps all registered resources.
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Package main dumps all registered resources. |
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components
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arm
Package arm defines the arm that a robot uses to manipulate objects.
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Package arm defines the arm that a robot uses to manipulate objects. |
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arm/eva
Package eva implements the Eva robot from Automata.
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Package eva implements the Eva robot from Automata. |
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arm/fake
Package fake implements a fake arm.
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Package fake implements a fake arm. |
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arm/register
Package register registers all relevant arms
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Package register registers all relevant arms |
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arm/universalrobots
Package universalrobots implements the UR arm from Universal Robots.
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Package universalrobots implements the UR arm from Universal Robots. |
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arm/wrapper
Package wrapper is a package that defines an implementation that wraps a partially implemented arm
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Package wrapper is a package that defines an implementation that wraps a partially implemented arm |
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arm/xarm
Package xarm implements some xArms.
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Package xarm implements some xArms. |
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arm/yahboom
Package yahboom implements a yahboom based robot.
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Package yahboom implements a yahboom based robot. |
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audioinput
Package audioinput defines an audio capturing device.
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Package audioinput defines an audio capturing device. |
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audioinput/fake
Package fake implements a fake audio input.
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Package fake implements a fake audio input. |
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audioinput/microphone
Package microphone implements a microphone audio input.
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Package microphone implements a microphone audio input. |
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audioinput/register
Package register registers all relevant audio inputs and also subtype specific functions
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Package register registers all relevant audio inputs and also subtype specific functions |
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base
Package base defines the base that a robot uses to move around.
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Package base defines the base that a robot uses to move around. |
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base/agilex
Package limo implements the AgileX Limo base
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Package limo implements the AgileX Limo base |
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base/boat
Package boat implements a base for a boat with support for N motors in any position or angle This is an Experimental package
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Package boat implements a base for a boat with support for N motors in any position or angle This is an Experimental package |
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base/fake
Package fake implements a fake base.
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Package fake implements a fake base. |
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base/register
Package register registers all relevant bases
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Package register registers all relevant bases |
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base/wheeled
Package wheeled implements some bases, like a wheeled base.
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Package wheeled implements some bases, like a wheeled base. |
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board
Package board defines the interfaces that typically live on a single-board computer such as a Raspberry Pi.
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Package board defines the interfaces that typically live on a single-board computer such as a Raspberry Pi. |
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board/arduino
Package arduino implements the arduino board and some peripherals.
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Package arduino implements the arduino board and some peripherals. |
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board/beaglebone
Package beaglebone implements a beaglebone based board.
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Package beaglebone implements a beaglebone based board. |
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board/fake
Package fake implements a fake board.
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Package fake implements a fake board. |
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board/genericlinux
Package genericlinux implements a Linux-based board making heavy use of sysfs (https://en.wikipedia.org/wiki/Sysfs).
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Package genericlinux implements a Linux-based board making heavy use of sysfs (https://en.wikipedia.org/wiki/Sysfs). |
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board/hat/pca9685
Package pca9685 implements a PCA9685 HAT.
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Package pca9685 implements a PCA9685 HAT. |
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board/jetson
Package jetson implements a jetson-based board.
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Package jetson implements a jetson-based board. |
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board/numato
Package numato is for numato IO boards.
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Package numato is for numato IO boards. |
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board/pi
Package pi implements a Board and its related interfaces for a Raspberry Pi.
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Package pi implements a Board and its related interfaces for a Raspberry Pi. |
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board/pi/common
Package picommon contains shared information for supported and non-supported pi boards.
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Package picommon contains shared information for supported and non-supported pi boards. |
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board/register
Package register registers all relevant Boards and also subtype specific functions
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Package register registers all relevant Boards and also subtype specific functions |
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board/ti
Package ti implements a ti based board.
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Package ti implements a ti based board. |
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camera
Package camera defines an image capturing device.
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Package camera defines an image capturing device. |
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camera/align
Package align defines the camera models that are used to align a color camera's output with a depth camera's output, in order to make point clouds.
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Package align defines the camera models that are used to align a color camera's output with a depth camera's output, in order to make point clouds. |
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camera/fake
Package fake implements a fake camera which always returns the same image with a user specified resolution.
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Package fake implements a fake camera which always returns the same image with a user specified resolution. |
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camera/ffmpeg
Package ffmpeg provides an implementation for an ffmpeg based camera
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Package ffmpeg provides an implementation for an ffmpeg based camera |
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camera/register
Package register registers all relevant cameras and also subtype specific functions
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Package register registers all relevant cameras and also subtype specific functions |
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camera/rtsp
Package rtsp implements an RTSP camera client for RDK
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Package rtsp implements an RTSP camera client for RDK |
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camera/transformpipeline
Package transformpipeline defines image sources that apply transforms on images, and can be composed into an image transformation pipeline.
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Package transformpipeline defines image sources that apply transforms on images, and can be composed into an image transformation pipeline. |
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camera/velodyne
Package velodyne implements a general velodyne LIDAR as a camera.
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Package velodyne implements a general velodyne LIDAR as a camera. |
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camera/videosource
Package videosource defines various image sources typically registered as cameras in the API.
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Package videosource defines various image sources typically registered as cameras in the API. |
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encoder
Package encoder implements the encoder component
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Package encoder implements the encoder component |
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encoder/fake
Package fake implements a fake encoder.
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Package fake implements a fake encoder. |
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gantry
Package gantry contains a gRPC based gantry client.
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Package gantry contains a gRPC based gantry client. |
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gantry/fake
Package fake implements a fake gantry.
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Package fake implements a fake gantry. |
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gantry/multiaxis
Package multiaxis implements a multi-axis gantry.
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Package multiaxis implements a multi-axis gantry. |
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gantry/oneaxis
Package oneaxis implements a one-axis gantry.
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Package oneaxis implements a one-axis gantry. |
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gantry/register
Package register registers all relevant gantries
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Package register registers all relevant gantries |
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generic
Package generic contains a gRPC based generic client.
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Package generic contains a gRPC based generic client. |
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generic/fake
Package fake implements a fake Generic component.
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Package fake implements a fake Generic component. |
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generic/register
Package register registers the generic component
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Package register registers the generic component |
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gripper
Package gripper contains a gRPC based gripper client.
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Package gripper contains a gRPC based gripper client. |
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gripper/fake
Package fake implements a fake gripper.
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Package fake implements a fake gripper. |
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gripper/register
Package register registers all relevant grippers and also subtype specific functions
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Package register registers all relevant grippers and also subtype specific functions |
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gripper/robotiq
Package robotiq implements the gripper from robotiq.
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Package robotiq implements the gripper from robotiq. |
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gripper/softrobotics
Package softrobotics implements the vacuum gripper from Soft Robotics.
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Package softrobotics implements the vacuum gripper from Soft Robotics. |
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gripper/vgripper/v1
Package vgripper implements versions of the Viam gripper.
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Package vgripper implements versions of the Viam gripper. |
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gripper/yahboom
Package yahboom implements a yahboom based gripper.
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Package yahboom implements a yahboom based gripper. |
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input
Package input contains a gRPC based input controller client.
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Package input contains a gRPC based input controller client. |
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input/fake
Package fake implements a fake input controller.
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Package fake implements a fake input controller. |
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input/gamepad
Package gamepad implements a linux gamepad as an input controller.
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Package gamepad implements a linux gamepad as an input controller. |
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input/gpio
Package gpio implements a gpio/adc based input.Controller.
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Package gpio implements a gpio/adc based input.Controller. |
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input/mux
Package mux implements a multiplexed input controller.
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Package mux implements a multiplexed input controller. |
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input/register
Package register registers all relevant inputs
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Package register registers all relevant inputs |
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input/webgamepad
Package webgamepad implements a web based input controller.
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Package webgamepad implements a web based input controller. |
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motor
Package motor contains a gRPC bases motor client
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Package motor contains a gRPC bases motor client |
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motor/dimensionengineering
Package dimensionengineering contains implementations of the dimensionengineering motor controls
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Package dimensionengineering contains implementations of the dimensionengineering motor controls |
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motor/dmc4000
Package dmc4000 implements stepper motors behind a Galil DMC4000 series motor controller
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Package dmc4000 implements stepper motors behind a Galil DMC4000 series motor controller |
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motor/fake
Package fake implements a fake motor.
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Package fake implements a fake motor. |
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motor/gpio
Package gpio implements a GPIO based motor.
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Package gpio implements a GPIO based motor. |
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motor/gpiostepper
Package gpiostepper implements a GPIO based stepper motor.
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Package gpiostepper implements a GPIO based stepper motor. |
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motor/i2cmotors
Package ezopmp is a motor driver for the hydrogarden pump
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Package ezopmp is a motor driver for the hydrogarden pump |
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motor/register
Package register registers all relevant motors
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Package register registers all relevant motors |
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motor/roboclaw
Package roboclaw is the driver for the roboclaw motor drivers
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Package roboclaw is the driver for the roboclaw motor drivers |
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motor/tmcstepper
Package tmcstepper implements a TMC stepper motor.
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Package tmcstepper implements a TMC stepper motor. |
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motor/ulnstepper
Package uln28byj implements a GPIO based stepper motor (model: 28byj-48) with uln2003 controler.
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Package uln28byj implements a GPIO based stepper motor (model: 28byj-48) with uln2003 controler. |
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movementsensor
Package movementsensor defines the interfaces of a MovementSensor
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Package movementsensor defines the interfaces of a MovementSensor |
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movementsensor/adxl345
Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer attached to an I2C bus on the robot (the chip supports communicating over SPI as well, but this package does not support that interface).
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Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer attached to an I2C bus on the robot (the chip supports communicating over SPI as well, but this package does not support that interface). |
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movementsensor/cameramono
Package cameramono implements a visual odemetry movement sensor based ona single camera stream This is an Experimental package
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Package cameramono implements a visual odemetry movement sensor based ona single camera stream This is an Experimental package |
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movementsensor/fake
Package fake is a fake MovementSensor for testing
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Package fake is a fake MovementSensor for testing |
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movementsensor/gpsnmea
Package gpsnmea implements an NMEA serial gps.
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Package gpsnmea implements an NMEA serial gps. |
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movementsensor/gpsrtk
Package gpsrtk defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package
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Package gpsrtk defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package |
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movementsensor/imuvectornav
Package imuvectornav implement vectornav imu
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Package imuvectornav implement vectornav imu |
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movementsensor/imuwit
Package imuwit implements wit imus.
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Package imuwit implements wit imus. |
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movementsensor/mpu6050
Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer.
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Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer. |
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movementsensor/register
Package register registers all relevant MovementSensors
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Package register registers all relevant MovementSensors |
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posetracker
Package posetracker contains the interface and gRPC infrastructure for a pose tracker component
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Package posetracker contains the interface and gRPC infrastructure for a pose tracker component |
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register
Package register registers all components
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Package register registers all components |
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sensor
Package sensor contains a gRPC based sensor client.
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Package sensor contains a gRPC based sensor client. |
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sensor/bme280
Package bme280 implements a bme280 sensor for temperature, humidity, and pressure.
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Package bme280 implements a bme280 sensor for temperature, humidity, and pressure. |
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sensor/charge
Package charge implements a charge controller sensor
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Package charge implements a charge controller sensor |
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sensor/ds18b20
Package ds18b20 implements a 1-wire temperature sensor
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Package ds18b20 implements a 1-wire temperature sensor |
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sensor/fake
Package fake implements a fake Sensor.
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Package fake implements a fake Sensor. |
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sensor/power_ina219
Package ina219 implements an ina219 voltage/current/power monitor sensor - typically used for battery state monitoring.
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Package ina219 implements an ina219 voltage/current/power monitor sensor - typically used for battery state monitoring. |
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sensor/register
Package register registers all relevant Sensors
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Package register registers all relevant Sensors |
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sensor/sht3xd
Package sht3xd implements a sht3x-d sensor for temperature and humidity datasheet can be found at: https://cdn-shop.adafruit.com/product-files/2857/Sensirion_Humidity_SHT3x_Datasheet_digital-767294.pdf example repo: https://github.com/esphome/esphome/tree/dev/esphome/components/sht3xd
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Package sht3xd implements a sht3x-d sensor for temperature and humidity datasheet can be found at: https://cdn-shop.adafruit.com/product-files/2857/Sensirion_Humidity_SHT3x_Datasheet_digital-767294.pdf example repo: https://github.com/esphome/esphome/tree/dev/esphome/components/sht3xd |
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sensor/ultrasonic
Package ultrasonic implements an ultrasonic sensor based of the yahboom ultrasonic sensor
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Package ultrasonic implements an ultrasonic sensor based of the yahboom ultrasonic sensor |
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servo
Package servo contains a gRPC bases servo client
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Package servo contains a gRPC bases servo client |
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servo/fake
Package fake implements a fake servo.
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Package fake implements a fake servo. |
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servo/gpio
Package gpio implements a pin based servo
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Package gpio implements a pin based servo |
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servo/register
Package register registers all relevant servos
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Package register registers all relevant servos |
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Package config defines the structures to configure a robot and its connected parts.
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Package config defines the structures to configure a robot and its connected parts. |
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testutils
Package testutils helpers for testing the config retrievial.
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Package testutils helpers for testing the config retrievial. |
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Package control package for feedback loop controls This is an Experimental package
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Package control package for feedback loop controls This is an Experimental package |
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Package data contains the code involved with Viam's Data Management Platform for automatically collecting component readings from robots.
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Package data contains the code involved with Viam's Data Management Platform for automatically collecting component readings from robots. |
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Package discovery implements types to support robot component discovery.
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Package discovery implements types to support robot component discovery. |
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etc
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analyzecoverage
Package main is a go test analyzer that publishes results to a MongoDB database.
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Package main is a go test analyzer that publishes results to a MongoDB database. |
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analyzetests
Package main is a go test analyzer that publishes results to a MongoDB database.
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Package main is a go test analyzer that publishes results to a MongoDB database. |
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Package examples contain a few examples of using the RDK.
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Package examples contain a few examples of using the RDK. |
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customresources/apis/gizmoapi
Package gizmoapi implements the acme:component:gizmo API, a demonstraction API showcasing the available GRPC method types.
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Package gizmoapi implements the acme:component:gizmo API, a demonstraction API showcasing the available GRPC method types. |
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customresources/apis/proto/api/component/gizmo/v1
Package v1 is a reverse proxy.
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Package v1 is a reverse proxy. |
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customresources/apis/proto/api/service/summation/v1
Package v1 is a reverse proxy.
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Package v1 is a reverse proxy. |
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customresources/apis/summationapi
Package summation defines a simple number summing service API for demonstration purposes.
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Package summation defines a simple number summing service API for demonstration purposes. |
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customresources/demos/complexmodule
Package main is a module, which serves all four custom model types in the customresources examples, including both custom APIs.
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Package main is a module, which serves all four custom model types in the customresources examples, including both custom APIs. |
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customresources/demos/complexmodule/client
Package main tests out all four custom models in the complexmodule.
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Package main tests out all four custom models in the complexmodule. |
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customresources/demos/remoteserver
Package main is a standalone server (for use as a remote) serving a demo Gizmo component.
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Package main is a standalone server (for use as a remote) serving a demo Gizmo component. |
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customresources/demos/remoteserver/client
Package main tests out a Gizmo client.
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Package main tests out a Gizmo client. |
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customresources/demos/simplemodule
Package main is a module with a built-in "counter" component model, that will simply track numbers.
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Package main is a module with a built-in "counter" component model, that will simply track numbers. |
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customresources/demos/simplemodule/client
Package main tests out all four custom models in the complexmodule.
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Package main tests out all four custom models in the complexmodule. |
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customresources/models/mybase
Package mybase implements a base that only supports SetPower (basic forward/back/turn controls.)
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Package mybase implements a base that only supports SetPower (basic forward/back/turn controls.) |
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customresources/models/mygizmo
Package mygizmo implements an acme:component:gizmo, a demonstration component that simply shows the various methods available in grpc.
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Package mygizmo implements an acme:component:gizmo, a demonstration component that simply shows the various methods available in grpc. |
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customresources/models/mynavigation
Package mynavigation contains an example navigation service that only stores waypoints, and returns a fixed, configurable location.
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Package mynavigation contains an example navigation service that only stores waypoints, and returns a fixed, configurable location. |
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customresources/models/mysum
Package mysum implements an acme:service:summation, a demo service which sums (or subtracts) a given list of numbers.
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Package mysum implements an acme:service:summation, a demo service which sums (or subtracts) a given list of numbers. |
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mysensor
Package mysensor contains an example on creating a custom model.
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Package mysensor contains an example on creating a custom model. |
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mysensor/client
Package main tests out the mySensor component type.
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Package main tests out the mySensor component type. |
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mysensor/server
Package main is an example of a custom viam server.
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Package main is an example of a custom viam server. |
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simpleserver
Package main shows a simple server with a fake arm.
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Package main shows a simple server with a fake arm. |
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Package grpc provides grpc utilities.
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Package grpc provides grpc utilities. |
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Package ml provides some fundamental machine learning primitives.
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Package ml provides some fundamental machine learning primitives. |
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inference
Package inference allows users to do inference through tflite (tf, pytorch, etc in the future)
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Package inference allows users to do inference through tflite (tf, pytorch, etc in the future) |
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Package module provides services for external resource and logic modules.
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Package module provides services for external resource and logic modules. |
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modmanager
Package modmanager provides the module manager for a robot.
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Package modmanager provides the module manager for a robot. |
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modmaninterface
Package modmaninterface abstracts the manager interface to avoid an import cycle/loop.
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Package modmaninterface abstracts the manager interface to avoid an import cycle/loop. |
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testmodule
Package main is a module for testing, with an inline generic component to return internal data and perform other test functions.
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Package main is a module for testing, with an inline generic component to return internal data and perform other test functions. |
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Package motionplan is a motion planning library.
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Package motionplan is a motion planning library. |
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Package operation manages operation ids
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Package operation manages operation ids |
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Package pointcloud defines a point cloud and provides an implementation for one.
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Package pointcloud defines a point cloud and provides an implementation for one. |
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Package protoutils are a collection of util methods for using proto in rdk
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Package protoutils are a collection of util methods for using proto in rdk |
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Package referenceframe defines the api and does the math of translating between reference frames Useful for if you have a camera, connected to a gripper, connected to an arm, and need to translate the camera reference frame to the arm reference frame, if you've found something in the camera, and want to move the gripper + arm to get it.
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Package referenceframe defines the api and does the math of translating between reference frames Useful for if you have a camera, connected to a gripper, connected to an arm, and need to translate the camera reference frame to the arm reference frame, if you've found something in the camera, and want to move the gripper + arm to get it. |
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Package registry operates the global registry of robotic parts.
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Package registry operates the global registry of robotic parts. |
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Package resource contains types that help identify and classify resources (components/services) of a robot.
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Package resource contains types that help identify and classify resources (components/services) of a robot. |
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Package rimage defines fundamental image and color processing primitives.
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Package rimage defines fundamental image and color processing primitives. |
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cmd/stream_camera
Package main streams a specific camera over WebRTC.
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Package main streams a specific camera over WebRTC. |
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depthadapter
Package depthadapter is a simple package that turns a DepthMap into a point cloud using intrinsic parameters of a camera.
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Package depthadapter is a simple package that turns a DepthMap into a point cloud using intrinsic parameters of a camera. |
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transform
Package transform provides image transformation utilities relying on camera parameters.
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Package transform provides image transformation utilities relying on camera parameters. |
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transform/cmd/depth_to_color
Get the coordinates of a depth pixel in the depth map in the reference frame of the color image $./depth_to_color -conf=/path/to/intrinsics/extrinsic/file X Y Z
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Get the coordinates of a depth pixel in the depth map in the reference frame of the color image $./depth_to_color -conf=/path/to/intrinsics/extrinsic/file X Y Z |
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transform/cmd/extrinsic_calibration
Given at least 4 corresponding points, and the intrinsic matrices of both cameras, computes the rigid transform (rotation + translation) that would be the extrinsic transformation from camera 1 to camera 2.
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Given at least 4 corresponding points, and the intrinsic matrices of both cameras, computes the rigid transform (rotation + translation) that would be the extrinsic transformation from camera 1 to camera 2. |
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Package robot defines the robot which is the root of all robotic parts.
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Package robot defines the robot which is the root of all robotic parts. |
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client
Package client contains a gRPC based robot.Robot client.
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Package client contains a gRPC based robot.Robot client. |
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framesystem
Package framesystem defines and implements the concept of a frame system.
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Package framesystem defines and implements the concept of a frame system. |
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framesystem/parts
Package framesystemparts provides functionality around a list of framesystem parts
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Package framesystemparts provides functionality around a list of framesystem parts |
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impl
Package robotimpl defines implementations of robot.Robot and robot.LocalRobot.
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Package robotimpl defines implementations of robot.Robot and robot.LocalRobot. |
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packages
Package packages contains utilities and manager to sync Viam packages defined in the RDK config from the Viam app to the local robot.
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Package packages contains utilities and manager to sync Viam packages defined in the RDK config from the Viam app to the local robot. |
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packages/testutils
Package testutils is test helpers for packages.
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Package testutils is test helpers for packages. |
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server
Package server contains a gRPC based robot.Robot server implementation.
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Package server contains a gRPC based robot.Robot server implementation. |
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web
Package web provides gRPC/REST/GUI APIs to control and monitor a robot.
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Package web provides gRPC/REST/GUI APIs to control and monitor a robot. |
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web/options
Package weboptions provides Options for configuring a web server
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Package weboptions provides Options for configuring a web server |
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web/stream
Package webstream provides controls for streaming from the web server.
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Package webstream provides controls for streaming from the web server. |
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Package ros implements functionality that bridges the gap between `rdk` and ROS
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Package ros implements functionality that bridges the gap between `rdk` and ROS |
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rosbag_parser/cmd
Package main is a rosbag parser.
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Package main is a rosbag parser. |
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services
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armremotecontrol
Package armremotecontrol implements a remote control for a arm.
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Package armremotecontrol implements a remote control for a arm. |
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armremotecontrol/builtin
Package builtin implements a remote control for a arm.
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Package builtin implements a remote control for a arm. |
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armremotecontrol/register
Package register registers all relevant armremotecontrol models and also subtype specific functions
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Package register registers all relevant armremotecontrol models and also subtype specific functions |
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baseremotecontrol
Package baseremotecontrol implements a remote control for a base.
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Package baseremotecontrol implements a remote control for a base. |
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baseremotecontrol/builtin
Package builtin implements a remote control for a base.
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Package builtin implements a remote control for a base. |
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baseremotecontrol/register
Package register registers all relevant baseremotecontrol models and also subtype specific functions
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Package register registers all relevant baseremotecontrol models and also subtype specific functions |
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datamanager
Package datamanager contains a gRPC based datamanager service server
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Package datamanager contains a gRPC based datamanager service server |
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datamanager/builtin
Package builtin contains a service type that can be used to capture data from a robot's components.
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Package builtin contains a service type that can be used to capture data from a robot's components. |
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datamanager/datacapture
Package datacapture contains tools for interacting with Viam datacapture files.
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Package datacapture contains tools for interacting with Viam datacapture files. |
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datamanager/datasync
Package datasync contains interfaces for syncing data from robots to the app.viam.com cloud.
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Package datasync contains interfaces for syncing data from robots to the app.viam.com cloud. |
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datamanager/internal
Package internal implements a data manager service definition with additional exported functions for the purpose of testing
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Package internal implements a data manager service definition with additional exported functions for the purpose of testing |
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datamanager/register
Package register registers all relevant datamanager models and also subtype specific functions
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Package register registers all relevant datamanager models and also subtype specific functions |
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motion
Package motion contains a gRPC based motion client
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Package motion contains a gRPC based motion client |
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motion/builtin
Package builtin implements a motion service.
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Package builtin implements a motion service. |
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motion/register
Package register registers all relevant motion services and also subtype specific functions
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Package register registers all relevant motion services and also subtype specific functions |
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navigation
Package navigation contains a navigation service, along with a gRPC server and client
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Package navigation contains a navigation service, along with a gRPC server and client |
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navigation/builtin
Package builtin contains the default navigation service, along with a gRPC server and client
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Package builtin contains the default navigation service, along with a gRPC server and client |
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navigation/register
Package register registers all relevant navigation models and also subtype specific functions
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Package register registers all relevant navigation models and also subtype specific functions |
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register
Package register registers all services
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Package register registers all services |
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sensors
Package sensors contains a gRPC based sensors service client
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Package sensors contains a gRPC based sensors service client |
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sensors/builtin
Package builtin implements the default sensors service.
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Package builtin implements the default sensors service. |
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sensors/register
Package register registers all relevant sensors models and also subtype specific functions
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Package register registers all relevant sensors models and also subtype specific functions |
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shell
Package shell contains a shell service, along with a gRPC server and client
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Package shell contains a shell service, along with a gRPC server and client |
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shell/builtin
Package builtin contains a shell service, along with a gRPC server and client
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Package builtin contains a shell service, along with a gRPC server and client |
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shell/register
Package register registers all relevant shell models and also subtype specific functions
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Package register registers all relevant shell models and also subtype specific functions |
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slam
Package slam implements simultaneous localization and mapping This is an Experimental package
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Package slam implements simultaneous localization and mapping This is an Experimental package |
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slam/builtin
Package builtin implements simultaneous localization and mapping This is an Experimental package
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Package builtin implements simultaneous localization and mapping This is an Experimental package |
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slam/fake
Package fake implements a fake slam service.
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Package fake implements a fake slam service. |
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slam/grpchelper
Package grpchelper implements helper functions to be used with slam service grpc clients
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Package grpchelper implements helper functions to be used with slam service grpc clients |
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slam/internal/testhelper
Package testhelper implements a slam service definition with additional exported functions for the purpose of testing
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Package testhelper implements a slam service definition with additional exported functions for the purpose of testing |
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slam/register
Package register registers all relevant slam models and also subtype specific functions
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Package register registers all relevant slam models and also subtype specific functions |
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vision
Package vision is the service that allows you to access various computer vision algorithms (like detection, segmentation, tracking, etc) that usually only require a camera or image input.
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Package vision is the service that allows you to access various computer vision algorithms (like detection, segmentation, tracking, etc) that usually only require a camera or image input. |
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vision/builtin
Package builtin is the service that allows you to access various computer vision algorithms (like detection, segmentation, tracking, etc) that usually only require a camera or image input.
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Package builtin is the service that allows you to access various computer vision algorithms (like detection, segmentation, tracking, etc) that usually only require a camera or image input. |
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vision/register
Package register registers all relevant vision models and also subtype specific functions
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Package register registers all relevant vision models and also subtype specific functions |
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Package session provides support for robot session management.
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Package session provides support for robot session management. |
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Package spatialmath defines spatial mathematical operations.
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Package spatialmath defines spatial mathematical operations. |
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Package subtype contains a Service type that can be used to hold all resources of a certain subtype.
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Package subtype contains a Service type that can be used to hold all resources of a certain subtype. |
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Package testutils implements test utilities.
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Package testutils implements test utilities. |
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inject
Package inject provides dependency injected structures for mocking interfaces.
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Package inject provides dependency injected structures for mocking interfaces. |
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robottestutils
Package robottestutils provides helper functions in testing
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Package robottestutils provides helper functions in testing |
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Package utils contains all utility functions that currently have no better home than here.
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Package utils contains all utility functions that currently have no better home than here. |
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Package vision implements computer vision algorithms.
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Package vision implements computer vision algorithms. |
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chess
Package chess implements computer vision algorithms useful in chess.
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Package chess implements computer vision algorithms useful in chess. |
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classification
Package classification implements a classifier for use as a visModel in the vision service
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Package classification implements a classifier for use as a visModel in the vision service |
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delaunay
Package delaunay implements 2d Delaunay triangulation
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Package delaunay implements 2d Delaunay triangulation |
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keypoints
Package keypoints contains the implementation of keypoints in an image.
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Package keypoints contains the implementation of keypoints in an image. |
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objectdetection
Package objectdetection defines a functional way to create object detection pipelines by feeding in images from a gostream.VideoSource source.
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Package objectdetection defines a functional way to create object detection pipelines by feeding in images from a gostream.VideoSource source. |
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objectdetection/cmd/color_detection
Package main is a color detection tool.
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Package main is a color detection tool. |
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odometry
Package odometry implements functions for visual odometry
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Package odometry implements functions for visual odometry |
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odometry/cmd
Package main is a motion estimation via visual odometry tool.
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Package main is a motion estimation via visual odometry tool. |
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segmentation
Package segmentation implements object segmentation algorithms.
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Package segmentation implements object segmentation algorithms. |
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Package web contains the root of a web server.
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Package web contains the root of a web server. |
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cmd/directremotecontrol
Package main provides a utility to run a remote control only web server.
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Package main provides a utility to run a remote control only web server. |
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cmd/server
Package main provides a server offering gRPC/REST/GUI APIs to control and monitor a robot.
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Package main provides a server offering gRPC/REST/GUI APIs to control and monitor a robot. |
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server
Package server implements the entry point for running a robot web server.
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Package server implements the entry point for running a robot web server. |
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