rdk

package module
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README

RDK (Robot Development Kit)

PkgGoDev

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

If you have a bug or an idea, please open an issue in our JIRA project.

Building and Using

Dependencies
  • Install make.
  • Run make setup to 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 API.
SDKs

Multiple SDKs are available for writing client applications that interface with the Viam RDK.

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
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).

If you are in the web/frontend directory this is aliased as npm run server.

You will additionally need to start a development server for client assets. To do this, navigate to web/frontend and run npm start (and npm install if doing this for the first time) in a new terminal tab. Visit localhost:8080 to view the app, not localhost:5173. The latter is the above-mentioned 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

Support is not well tested yet.

Known Issues

License

Copyright 2021-2022 Viam Inc.

AGPLv3 - See LICENSE file

Documentation

Overview

Package rdk defines the Robot Development Kit. This is the open-source, on-robot portion of the Viam platform, providing viam-server and the Go SDK.

Source Files

View all Source files

Directories

Path Synopsis
cli
Package cli contains all business logic needed by the CLI command.
 Package cli contains all business logic needed by the CLI command.
viam
Package main is the CLI command itself.
 Package main is the CLI command itself.
components
arm
Package arm defines the arm that a robot uses to manipulate objects.
 Package arm defines the arm that a robot uses to manipulate objects.
arm/eva
Package eva implements the Eva robot from Automata.
 Package eva implements the Eva robot from Automata.
arm/fake
Package fake implements a fake arm.
 Package fake implements a fake arm.
arm/register
Package register registers all relevant arms
 Package register registers all relevant arms
arm/universalrobots
Package universalrobots implements the UR arm from Universal Robots.
 Package universalrobots implements the UR arm from Universal Robots.
arm/wrapper
Package wrapper is a package that defines an implementation that wraps a partially implemented arm
 Package wrapper is a package that defines an implementation that wraps a partially implemented arm
arm/xarm
Package xarm implements some xArms.
 Package xarm implements some xArms.
arm/yahboom
Package yahboom implements a yahboom based robot.
 Package yahboom implements a yahboom based robot.
audioinput
Package audioinput defines an audio capturing device.
 Package audioinput defines an audio capturing device.
audioinput/fake
Package fake implements a fake audio input.
 Package fake implements a fake audio input.
audioinput/microphone
Package microphone implements a microphone audio input.
 Package microphone implements a microphone audio input.
audioinput/register
Package register registers all relevant audio inputs and also API specific functions
 Package register registers all relevant audio inputs and also API specific functions
base
Package base defines the base that a robot uses to move around.
 Package base defines the base that a robot uses to move around.
base/agilex
Package limo implements the AgileX Limo base
 Package limo implements the AgileX Limo base
base/fake
Package fake implements a fake base.
 Package fake implements a fake base.
base/kinematicbase
Package kinematicbase contains wrappers that augment bases with information needed for higher level control over the base
 Package kinematicbase contains wrappers that augment bases with information needed for higher level control over the base
base/register
Package register registers all relevant bases
 Package register registers all relevant bases
base/wheeled
Package wheeled implements some bases, like a wheeled base.
 Package wheeled implements some bases, like a wheeled base.
board
Package board defines the interfaces that typically live on a single-board computer such as a Raspberry Pi.
 Package board defines the interfaces that typically live on a single-board computer such as a Raspberry Pi.
board/beaglebone
Package beaglebone implements a beaglebone based board.
 Package beaglebone implements a beaglebone based board.
board/customlinux
Package customlinux implements a board running Linux.
 Package customlinux implements a board running Linux.
board/fake
Package fake implements a fake board.
 Package fake implements a fake board.
board/genericlinux
Package genericlinux implements a Linux-based board making heavy use of sysfs (https://en.wikipedia.org/wiki/Sysfs).
 Package genericlinux implements a Linux-based board making heavy use of sysfs (https://en.wikipedia.org/wiki/Sysfs).
board/hat/pca9685
Package pca9685 implements a PCA9685 HAT.
 Package pca9685 implements a PCA9685 HAT.
board/jetson
Package jetson implements a jetson-based board.
 Package jetson implements a jetson-based board.
board/numato
Package numato is for numato IO boards.
 Package numato is for numato IO boards.
board/pi
Package pi implements a Board and its related interfaces for a Raspberry Pi.
 Package pi implements a Board and its related interfaces for a Raspberry Pi.
board/pi/common
Package picommon contains shared information for supported and non-supported pi boards.
 Package picommon contains shared information for supported and non-supported pi boards.
board/register
Package register registers all relevant Boards and also API specific functions
 Package register registers all relevant Boards and also API specific functions
board/ti
Package ti implements a ti based board.
 Package ti implements a ti based board.
board/upboard
Package upboard implements an Intel based board.
 Package upboard implements an Intel based board.
camera
Package camera defines an image capturing device.
 Package camera defines an image capturing device.
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.
 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.
camera/fake
Package fake implements a fake camera which always returns the same image with a user specified resolution.
 Package fake implements a fake camera which always returns the same image with a user specified resolution.
camera/ffmpeg
Package ffmpeg provides an implementation for an ffmpeg based camera
 Package ffmpeg provides an implementation for an ffmpeg based camera
camera/platforms/jetson
Package jetsoncamera contains information about the daughterboards and camera modules that are supported on jetson platforms.
 Package jetsoncamera contains information about the daughterboards and camera modules that are supported on jetson platforms.
camera/register
Package register registers all relevant cameras and also API specific functions
 Package register registers all relevant cameras and also API specific functions
camera/replaypcd
Package replaypcd implements a replay camera that can return point cloud data.
 Package replaypcd implements a replay camera that can return point cloud data.
camera/rtsp
Package rtsp implements an RTSP camera client for RDK
 Package rtsp implements an RTSP camera client for RDK
camera/transformpipeline
Package transformpipeline defines image sources that apply transforms on images, and can be composed into an image transformation pipeline.
 Package transformpipeline defines image sources that apply transforms on images, and can be composed into an image transformation pipeline.
camera/ultrasonic
Package ultrasonic provides an implementation for an ultrasonic sensor wrapped as a camera
 Package ultrasonic provides an implementation for an ultrasonic sensor wrapped as a camera
camera/velodyne
Package velodyne implements a general velodyne LIDAR as a camera.
 Package velodyne implements a general velodyne LIDAR as a camera.
camera/videosource
Package videosource defines various image sources typically registered as cameras in the API.
 Package videosource defines various image sources typically registered as cameras in the API.
encoder
Package encoder implements the encoder component
 Package encoder implements the encoder component
encoder/ams
Package ams implements the AMS_AS5048 encoder
 Package ams implements the AMS_AS5048 encoder
encoder/fake
Package fake implements a fake encoder.
 Package fake implements a fake encoder.
encoder/incremental
Package incremental implements an incremental encoder
 Package incremental implements an incremental encoder
encoder/register
Package register registers all relevant MovementSensors
 Package register registers all relevant MovementSensors
encoder/single
Package single implements a single-wire odometer, such as LM393, as an encoder.
 Package single implements a single-wire odometer, such as LM393, as an encoder.
gantry
Package gantry contains a gRPC based gantry client.
 Package gantry contains a gRPC based gantry client.
gantry/fake
Package fake implements a fake gantry.
 Package fake implements a fake gantry.
gantry/multiaxis
Package multiaxis implements a multi-axis gantry.
 Package multiaxis implements a multi-axis gantry.
gantry/register
Package register registers all relevant gantries
 Package register registers all relevant gantries
gantry/singleaxis
Package singleaxis implements a single-axis gantry.
 Package singleaxis implements a single-axis gantry.
generic
Package generic contains a gRPC based generic client.
 Package generic contains a gRPC based generic client.
generic/fake
Package fake implements a fake Generic component.
 Package fake implements a fake Generic component.
generic/register
Package register registers the generic component
 Package register registers the generic component
gripper
Package gripper contains a gRPC based gripper client.
 Package gripper contains a gRPC based gripper client.
gripper/fake
Package fake implements a fake gripper.
 Package fake implements a fake gripper.
gripper/register
Package register registers all relevant grippers and also API specific functions
 Package register registers all relevant grippers and also API specific functions
gripper/robotiq
Package robotiq implements the gripper from robotiq.
 Package robotiq implements the gripper from robotiq.
gripper/softrobotics
Package softrobotics implements the vacuum gripper from Soft Robotics.
 Package softrobotics implements the vacuum gripper from Soft Robotics.
gripper/yahboom
Package yahboom implements a yahboom based gripper.
 Package yahboom implements a yahboom based gripper.
input
Package input contains a gRPC based input controller client.
 Package input contains a gRPC based input controller client.
input/fake
Package fake implements a fake input controller.
 Package fake implements a fake input controller.
input/gamepad
Package gamepad implements a linux gamepad as an input controller.
 Package gamepad implements a linux gamepad as an input controller.
input/gpio
Package gpio implements a gpio/adc based input.Controller.
 Package gpio implements a gpio/adc based input.Controller.
input/mux
Package mux implements a multiplexed input controller.
 Package mux implements a multiplexed input controller.
input/register
Package register registers all relevant inputs
 Package register registers all relevant inputs
input/webgamepad
Package webgamepad implements a web based input controller.
 Package webgamepad implements a web based input controller.
motor
Package motor contains a gRPC bases motor client
 Package motor contains a gRPC bases motor client
motor/dimensionengineering
Package dimensionengineering contains implementations of the dimensionengineering motor controls
 Package dimensionengineering contains implementations of the dimensionengineering motor controls
motor/dmc4000
Package dmc4000 implements stepper motors behind a Galil DMC4000 series motor controller
 Package dmc4000 implements stepper motors behind a Galil DMC4000 series motor controller
motor/fake
Package fake implements a fake motor.
 Package fake implements a fake motor.
motor/gpio
Package gpio implements a GPIO based motor.
 Package gpio implements a GPIO based motor.
motor/gpiostepper
Package gpiostepper implements a GPIO based stepper motor
 Package gpiostepper implements a GPIO based stepper motor
motor/i2cmotors
Package ezopmp is a motor driver for the hydrogarden pump
 Package ezopmp is a motor driver for the hydrogarden pump
motor/register
Package register registers all relevant motors
 Package register registers all relevant motors
motor/roboclaw
Package roboclaw is the driver for the roboclaw motor drivers NOTE: This implementation is experimental and incomplete.
 Package roboclaw is the driver for the roboclaw motor drivers NOTE: This implementation is experimental and incomplete.
motor/tmcstepper
Package tmcstepper implements a TMC stepper motor.
 Package tmcstepper implements a TMC stepper motor.
motor/ulnstepper
Package uln28byj implements a GPIO based stepper motor (model: 28byj-48) with uln2003 controler.
 Package uln28byj implements a GPIO based stepper motor (model: 28byj-48) with uln2003 controler.
movementsensor
Package movementsensor defines the interfaces of a MovementSensor
 Package movementsensor defines the interfaces of a MovementSensor
movementsensor/adxl345
Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer.
 Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer.
movementsensor/cameramono
Package cameramono implements a visual odemetry movement sensor based ona single camera stream This is an Experimental package
 Package cameramono implements a visual odemetry movement sensor based ona single camera stream This is an Experimental package
movementsensor/fake
Package fake is a fake MovementSensor for testing
 Package fake is a fake MovementSensor for testing
movementsensor/gpsnmea
Package gpsnmea implements an NMEA serial gps.
 Package gpsnmea implements an NMEA serial gps.
movementsensor/gpsrtkpmtk
Package gpsrtkpmtk implements a gps using serial connection
 Package gpsrtkpmtk implements a gps using serial connection
movementsensor/gpsrtkserial
Package gpsrtkserial implements a gps using serial connection
 Package gpsrtkserial implements a gps using serial connection
movementsensor/imuvectornav
Package imuvectornav implement vectornav imu
 Package imuvectornav implement vectornav imu
movementsensor/imuwit
Package imuwit implements wit imus.
 Package imuwit implements wit imus.
movementsensor/merged
Package merged implements a movementsensor combining movement data from other sensors
 Package merged implements a movementsensor combining movement data from other sensors
movementsensor/mpu6050
Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer.
 Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer.
movementsensor/register
Package register registers all relevant MovementSensors
 Package register registers all relevant MovementSensors
movementsensor/rtkutils
Package rtkutils defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package
 Package rtkutils defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package
posetracker
Package posetracker contains the interface and gRPC infrastructure for a pose tracker component
 Package posetracker contains the interface and gRPC infrastructure for a pose tracker component
powersensor
Package powersensor defines the interfaces of a powersensor
 Package powersensor defines the interfaces of a powersensor
register
Package register registers all components
 Package register registers all components
sensor
Package sensor contains a gRPC based sensor client.
 Package sensor contains a gRPC based sensor client.
sensor/bme280
Package bme280 implements a bme280 sensor for temperature, humidity, and pressure.
 Package bme280 implements a bme280 sensor for temperature, humidity, and pressure.
sensor/charge
Package charge implements a charge controller sensor
 Package charge implements a charge controller sensor
sensor/ds18b20
Package ds18b20 implements a 1-wire temperature sensor
 Package ds18b20 implements a 1-wire temperature sensor
sensor/fake
Package fake implements a fake Sensor.
 Package fake implements a fake Sensor.
sensor/power_ina219
Package ina219 implements an ina219 voltage/current/power monitor sensor - typically used for battery state monitoring.
 Package ina219 implements an ina219 voltage/current/power monitor sensor - typically used for battery state monitoring.
sensor/register
Package register registers all relevant Sensors
 Package register registers all relevant Sensors
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
 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
sensor/ultrasonic
Package ultrasonic implements an ultrasonic sensor based of the yahboom ultrasonic sensor
 Package ultrasonic implements an ultrasonic sensor based of the yahboom ultrasonic sensor
servo
Package servo contains a gRPC bases servo client
 Package servo contains a gRPC bases servo client
servo/fake
Package fake implements a fake servo.
 Package fake implements a fake servo.
servo/gpio
Package gpio implements a pin based servo
 Package gpio implements a pin based servo
servo/register
Package register registers all relevant servos
 Package register registers all relevant servos
Package config defines the structures to configure a robot and its connected parts.
 Package config defines the structures to configure a robot and its connected parts.
testutils
Package testutils helpers for testing the config retrievial.
 Package testutils helpers for testing the config retrievial.
Package control package for feedback loop controls This is an Experimental package
 Package control package for feedback loop controls This is an Experimental package
Package data contains the code involved with Viam's Data Management Platform for automatically collecting component readings from robots.
 Package data contains the code involved with Viam's Data Management Platform for automatically collecting component readings from robots.
etc
analyzecoverage
Package main is a go test analyzer that publishes results to a MongoDB database.
 Package main is a go test analyzer that publishes results to a MongoDB database.
analyzetests
Package main is a go test analyzer that publishes results to a MongoDB database.
 Package main is a go test analyzer that publishes results to a MongoDB database.
Package examples contain a few examples of using the RDK.
 Package examples contain a few examples of using the RDK.
customresources/apis/gizmoapi
Package gizmoapi implements the acme:component:gizmo API, a demonstraction API showcasing the available GRPC method types.
 Package gizmoapi implements the acme:component:gizmo API, a demonstraction API showcasing the available GRPC method types.
customresources/apis/proto/api/component/gizmo/v1
Package v1 is a reverse proxy.
 Package v1 is a reverse proxy.
customresources/apis/proto/api/service/summation/v1
Package v1 is a reverse proxy.
 Package v1 is a reverse proxy.
customresources/apis/summationapi
Package summationapi defines a simple number summing service API for demonstration purposes.
 Package summationapi defines a simple number summing service API for demonstration purposes.
customresources/demos/complexmodule
Package main is a module, which serves all four custom model types in the customresources examples, including both custom APIs.
 Package main is a module, which serves all four custom model types in the customresources examples, including both custom APIs.
customresources/demos/complexmodule/client
Package main tests out all four custom models in the complexmodule.
 Package main tests out all four custom models in the complexmodule.
customresources/demos/remoteserver
Package main is a standalone server (for use as a remote) serving a demo Gizmo component.
 Package main is a standalone server (for use as a remote) serving a demo Gizmo component.
customresources/demos/remoteserver/client
Package main tests out a Gizmo client.
 Package main tests out a Gizmo client.
customresources/demos/simplemodule
Package main is a module with a built-in "counter" component model, that will simply track numbers.
 Package main is a module with a built-in "counter" component model, that will simply track numbers.
customresources/demos/simplemodule/client
Package main tests out all four custom models in the complexmodule.
 Package main tests out all four custom models in the complexmodule.
customresources/models/mybase
Package mybase implements a base that only supports SetPower (basic forward/back/turn controls.)
 Package mybase implements a base that only supports SetPower (basic forward/back/turn controls.)
customresources/models/mygizmo
Package mygizmo implements an acme:component:gizmo, a demonstration component that simply shows the various methods available in grpc.
 Package mygizmo implements an acme:component:gizmo, a demonstration component that simply shows the various methods available in grpc.
customresources/models/mynavigation
Package mynavigation contains an example navigation service that only stores waypoints, and returns a fixed, configurable location.
 Package mynavigation contains an example navigation service that only stores waypoints, and returns a fixed, configurable location.
customresources/models/mysum
Package mysum implements an acme:service:summation, a demo service which sums (or subtracts) a given list of numbers.
 Package mysum implements an acme:service:summation, a demo service which sums (or subtracts) a given list of numbers.
mysensor
Package mysensor contains an example on creating a custom model.
 Package mysensor contains an example on creating a custom model.
mysensor/client
Package main tests out the mySensor component type.
 Package main tests out the mySensor component type.
mysensor/server
Package main is an example of a custom viam server.
 Package main is an example of a custom viam server.
simpleserver
Package main shows a simple server with a fake arm.
 Package main shows a simple server with a fake arm.
Package grpc provides grpc utilities.
 Package grpc provides grpc utilities.
Package internal is used only within this package and all code contained within is not supported and should be considered experimetnal and subject to change.
 Package internal is used only within this package and all code contained within is not supported and should be considered experimetnal and subject to change.
cloud
Package cloud implements a service to grab gRPC connections to talk to a cloud service that manages robots.
 Package cloud implements a service to grab gRPC connections to talk to a cloud service that manages robots.
testutils/inject
Package inject provides an mock cloud connection service that can be used for testing.
 Package inject provides an mock cloud connection service that can be used for testing.
ml
Package ml provides some fundamental machine learning primitives.
 Package ml provides some fundamental machine learning primitives.
inference
Package inference allows users to do inference through tflite (tf, pytorch, etc in the future)
 Package inference allows users to do inference through tflite (tf, pytorch, etc in the future)
inference/tflite
inference/tflite_metadata
Package module provides services for external resource and logic modules.
 Package module provides services for external resource and logic modules.
modmanager
Package modmanager provides the module manager for a robot.
 Package modmanager provides the module manager for a robot.
modmanager/options
Package modmanageroptions provides Options for configuring a mod manager
 Package modmanageroptions provides Options for configuring a mod manager
modmaninterface
Package modmaninterface abstracts the manager interface to avoid an import cycle/loop.
 Package modmaninterface abstracts the manager interface to avoid an import cycle/loop.
testmodule
Package main is a module for testing, with an inline generic component to return internal data and perform other test functions.
 Package main is a module for testing, with an inline generic component to return internal data and perform other test functions.
Package motionplan is a motion planning library.
 Package motionplan is a motion planning library.
tpspace
Package tpspace defines an assortment of precomputable trajectories which can be used to plan nonholonomic 2d motion
 Package tpspace defines an assortment of precomputable trajectories which can be used to plan nonholonomic 2d motion
Package operation manages operation ids
 Package operation manages operation ids
Package pointcloud defines a point cloud and provides an implementation for one.
 Package pointcloud defines a point cloud and provides an implementation for one.
Package protoutils are a collection of util methods for using proto in rdk
 Package protoutils are a collection of util methods for using proto in rdk
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.
 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.
Package resource contains types that help identify and classify resources (components/services) of a robot.
 Package resource contains types that help identify and classify resources (components/services) of a robot.
Package rimage defines fundamental image and color processing primitives.
 Package rimage defines fundamental image and color processing primitives.
cmd/stream_camera
Package main streams a specific camera over WebRTC.
 Package main streams a specific camera over WebRTC.
depthadapter
Package depthadapter is a simple package that turns a DepthMap into a point cloud using intrinsic parameters of a camera.
 Package depthadapter is a simple package that turns a DepthMap into a point cloud using intrinsic parameters of a camera.
transform
Package transform provides image transformation utilities relying on camera parameters.
 Package transform provides image transformation utilities relying on camera parameters.
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
 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
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.
 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.
Package robot defines the robot which is the root of all robotic parts.
 Package robot defines the robot which is the root of all robotic parts.
client
Package client contains a gRPC based robot.Robot client.
 Package client contains a gRPC based robot.Robot client.
framesystem
Package framesystem defines the frame system service which is responsible for managing a stateful frame system
 Package framesystem defines the frame system service which is responsible for managing a stateful frame system
impl
Package robotimpl defines implementations of robot.Robot and robot.LocalRobot.
 Package robotimpl defines implementations of robot.Robot and robot.LocalRobot.
packages
Package packages contains utilities and manager to sync Viam packages defined in the RDK config from the Viam app to the local robot.
 Package packages contains utilities and manager to sync Viam packages defined in the RDK config from the Viam app to the local robot.
packages/testutils
Package testutils is test helpers for packages.
 Package testutils is test helpers for packages.
server
Package server contains a gRPC based robot.Robot server implementation.
 Package server contains a gRPC based robot.Robot server implementation.
web
Package web provides gRPC/REST/GUI APIs to control and monitor a robot.
 Package web provides gRPC/REST/GUI APIs to control and monitor a robot.
web/options
Package weboptions provides Options for configuring a web server
 Package weboptions provides Options for configuring a web server
web/stream
Package webstream provides controls for streaming from the web server.
 Package webstream provides controls for streaming from the web server.
ros
Package ros implements functionality that bridges the gap between `rdk` and ROS
 Package ros implements functionality that bridges the gap between `rdk` and ROS
rosbag_parser/cmd
Package main is a rosbag parser.
 Package main is a rosbag parser.
services
baseremotecontrol
Package baseremotecontrol implements a remote control for a base.
 Package baseremotecontrol implements a remote control for a base.
baseremotecontrol/builtin
Package builtin implements a remote control for a base.
 Package builtin implements a remote control for a base.
baseremotecontrol/register
Package register registers all relevant baseremotecontrol models and also API specific functions
 Package register registers all relevant baseremotecontrol models and also API specific functions
datamanager
Package datamanager contains a gRPC based datamanager service server
 Package datamanager contains a gRPC based datamanager service server
datamanager/builtin
Package builtin contains a service type that can be used to capture data from a robot's components.
 Package builtin contains a service type that can be used to capture data from a robot's components.
datamanager/datacapture
Package datacapture contains tools for interacting with Viam datacapture files.
 Package datacapture contains tools for interacting with Viam datacapture files.
datamanager/datasync
Package datasync contains interfaces for syncing data from robots to the app.viam.com cloud.
 Package datasync contains interfaces for syncing data from robots to the app.viam.com cloud.
datamanager/internal
Package internal implements a data manager service definition with additional exported functions for the purpose of testing
 Package internal implements a data manager service definition with additional exported functions for the purpose of testing
datamanager/register
Package register registers all relevant datamanager models and also API specific functions
 Package register registers all relevant datamanager models and also API specific functions
mlmodel
Package mlmodel defines the client and server for a service that can take in a map of input tensors/arrays, pass them through an inference engine, and then return a map output tensors/arrays.
 Package mlmodel defines the client and server for a service that can take in a map of input tensors/arrays, pass them through an inference engine, and then return a map output tensors/arrays.
mlmodel/register
Package register registers all relevant ML model services
 Package register registers all relevant ML model services
mlmodel/tflitecpu
Package tflitecpu runs tflite model files on the host's CPU, as an implementation the ML model service.
 Package tflitecpu runs tflite model files on the host's CPU, as an implementation the ML model service.
motion
Package motion is the service that allows you to plan and execute movements.
 Package motion is the service that allows you to plan and execute movements.
motion/builtin
Package builtin implements a motion service.
 Package builtin implements a motion service.
motion/register
Package register registers all relevant motion services and API specific functions.
 Package register registers all relevant motion services and API specific functions.
navigation
Package navigation is the service that allows you to navigate along waypoints.
 Package navigation is the service that allows you to navigate along waypoints.
navigation/builtin
Package builtin implements a navigation service.
 Package builtin implements a navigation service.
navigation/register
Package register registers all relevant navigation models and API specific functions.
 Package register registers all relevant navigation models and API specific functions.
register
Package register registers all services
 Package register registers all services
sensors
Package sensors contains a gRPC based sensors service client
 Package sensors contains a gRPC based sensors service client
sensors/builtin
Package builtin implements the default sensors service.
 Package builtin implements the default sensors service.
sensors/register
Package register registers all relevant sensors models and also API specific functions
 Package register registers all relevant sensors models and also API specific functions
shell
Package shell contains a shell service, along with a gRPC server and client
 Package shell contains a shell service, along with a gRPC server and client
shell/builtin
Package builtin contains a shell service, along with a gRPC server and client
 Package builtin contains a shell service, along with a gRPC server and client
shell/register
Package register registers all relevant shell models and also API specific functions
 Package register registers all relevant shell models and also API specific functions
slam
Package slam implements simultaneous localization and mapping.
 Package slam implements simultaneous localization and mapping.
slam/fake
Package fake implements a fake slam service
 Package fake implements a fake slam service
slam/grpchelper
Package grpchelper implements helper functions to be used with slam service grpc clients
 Package grpchelper implements helper functions to be used with slam service grpc clients
slam/internal/testhelper
Package testhelper implements a slam service definition with additional exported functions for the purpose of testing
 Package testhelper implements a slam service definition with additional exported functions for the purpose of testing
slam/register
Package register registers all relevant slam models and also API specific functions
 Package register registers all relevant slam models and also API specific functions
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.
 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.
vision/colordetector
Package colordetector uses a heuristic based on hue and connected components to create bounding boxes around objects of a specified color.
 Package colordetector uses a heuristic based on hue and connected components to create bounding boxes around objects of a specified color.
vision/detectionstosegments
Package detectionstosegments uses a 2D segmenter and a camera that can project its images to 3D to project the bounding boxes to 3D in order to created a segmented point cloud.
 Package detectionstosegments uses a 2D segmenter and a camera that can project its images to 3D to project the bounding boxes to 3D in order to created a segmented point cloud.
vision/mlvision
Package mlvision uses an underlying model from the ML model service as a vision model, and wraps the ML model with the vision service methods.
 Package mlvision uses an underlying model from the ML model service as a vision model, and wraps the ML model with the vision service methods.
vision/obstacledistance
Package obstacledistance uses an underlying camera to fulfill vision service methods, specifically GetObjectPointClouds, which performs several queries of NextPointCloud and returns a median point.
 Package obstacledistance uses an underlying camera to fulfill vision service methods, specifically GetObjectPointClouds, which performs several queries of NextPointCloud and returns a median point.
vision/obstaclespointcloud
Package obstaclespointcloud uses the 3D radius clustering algorithm as defined in the RDK vision/segmentation package as vision model.
 Package obstaclespointcloud uses the 3D radius clustering algorithm as defined in the RDK vision/segmentation package as vision model.
vision/register
Package register registers all relevant vision models and also API specific functions
 Package register registers all relevant vision models and also API specific functions
Package session provides support for robot session management.
 Package session provides support for robot session management.
Package spatialmath defines spatial mathematical operations.
 Package spatialmath defines spatial mathematical operations.
Package testutils implements test utilities.
 Package testutils implements test utilities.
inject
Package inject provides dependency injected structures for mocking interfaces.
 Package inject provides dependency injected structures for mocking interfaces.
robottestutils
Package robottestutils provides helper functions in testing
 Package robottestutils provides helper functions in testing
vcamera
Package vcamera creates and streams video to virtual V4L2 capture devices on Linux.
 Package vcamera creates and streams video to virtual V4L2 capture devices on Linux.
vcamera/cmd
This package creates two virtual cameras and streams test video to them until the program halts (with ctrl-c for example).
 This package creates two virtual cameras and streams test video to them until the program halts (with ctrl-c for example).
Package utils contains all utility functions that currently have no better home than here.
 Package utils contains all utility functions that currently have no better home than here.
contextutils
Package contextutils provides utility for adding and retrieving metadata to/from a context.
 Package contextutils provides utility for adding and retrieving metadata to/from a context.
Package vision implements computer vision algorithms.
 Package vision implements computer vision algorithms.
classification
Package classification implements a classifier for use as a visModel in the vision service
 Package classification implements a classifier for use as a visModel in the vision service
delaunay
Package delaunay implements 2d Delaunay triangulation
 Package delaunay implements 2d Delaunay triangulation
keypoints
Package keypoints contains the implementation of keypoints in an image.
 Package keypoints contains the implementation of keypoints in an image.
objectdetection
Package objectdetection defines a functional way to create object detection pipelines by feeding in images from a gostream.VideoSource source.
 Package objectdetection defines a functional way to create object detection pipelines by feeding in images from a gostream.VideoSource source.
odometry
Package odometry implements functions for visual odometry
 Package odometry implements functions for visual odometry
odometry/cmd
Package main is a motion estimation via visual odometry tool.
 Package main is a motion estimation via visual odometry tool.
segmentation
Package segmentation implements object segmentation algorithms.
 Package segmentation implements object segmentation algorithms.
web
Package web contains the root of a web server.
 Package web contains the root of a web server.
cmd/directremotecontrol
Package main provides a utility to run a remote control only web server.
 Package main provides a utility to run a remote control only web server.
cmd/server
Package main provides a server offering gRPC/REST/GUI APIs to control and monitor a robot.
 Package main provides a server offering gRPC/REST/GUI APIs to control and monitor a robot.
server
Package server implements the entry point for running a robot web server.
 Package server implements the entry point for running a robot web server.

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