rayasdk 3.7.13.dev0

Raya SDK - Unlimited Robotics Software Development Kit

Documentation

Usage

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

Optional arguments:

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

Positional arguments:

• command: SDK Command

Commands:

• simulator : Runs the simulator and the Raya os image
• init : Initialize Raya project in the current folder.
• scan : Discover robots in the network.
• connect : Connect raya to a robot or simulator.
• run : Execute current Raya project.
• update : Updates the Raya simulator.
• kill : Kill all Ra-Ya apps that are executed.

Developer notes: Notes

simulator

Runs the unity simulator

Usage:

rayasdk simulator [-d] [-h] {simulation-flags}

Optional arguments:

• --help: Show this help message and exit
• --debug: Runs only the unity simulator

Example:

rayasdk simulator

init

Initialize Raya project in the current folder.

Usage:

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

Required arguments:

• --app-id APP_ID: Application unique identificator (It has to be in snake_case format)

Optional arguments:

• --app-name APP_NAME: Application name
• h --help: Show this help message and exit

Example:

rayasdk init --app-id helloworld --app-name 'Hello World'

scan

Discover robots in the local network

Usage:

rayasdk scan [-h]

Optional arguments:

• h --help: Show this help message and exit

Example:

rayasdk scan

Output:

# rayasdk scan
Press enter to exit...

Robot ID         Serial           IP Address
---------------  ---------------  --------------
GARY_COLOMBIA    GARY_COLOMBIA    192.168.20.55
GARY_COLOMBIA_1  GARY_COLOMBIA_1  172.25.188.155

connect

Connect the current Raya project to a robot or simulator. The connection settings are global and are stored in ~/.ur/connection.json

Usage:

rayasdk connect [-h] [--robot-id ROBOT_ID | --robot-ip ROBOT_IP | --simulator]

Required mutually exclusive arguments:

• --robot-id ROBOT_ID: Robot identificator (from scan list).
• --robot-ip ROBOT_IP: Robot ip (from scan list or if you know it).
• --simulator: Connect the project to the simulator.

Optional arguments:

• h --help: Show this help message and exit

Example:

Connection to robot

rayasdk connect --robot-ip 192.168.20.55

Output:

# rayasdk connect --robot-ip 192.168.20.55
RayaOS is not up to date, if you wish to update, please run "rayasdk update"
SSH key found. Pushing key to remote server
The authenticity of host '[192.168.20.55]:2222 ([192.168.20.55]:2222)' can't be established.
ED25519 key fingerprint is ...
This key is not known by any other names
Are you sure you want to continue connecting (yes/no/[fingerprint])? yes
/home/ur-sb/.local/bin/ssh-copy-id: INFO: attempting to log in with the new key(s), to filter out any that are already installed

/home/ur-sb/.local/bin/ssh-copy-id: WARNING: All keys were skipped because they already exist on the remote system.
		(if you think this is a mistake, you may want to use -f option)

You have successfully connected to GARY_COLOMBIA

Connection to simulator

rayasdk connect --simulator

# rayasdk connect --simulator
You have successfully connected to the simulator

update

Check for a partial or full download of the Ra-ya Simulator and the Raya-os Image, This will create the following structure in ~/.ur

~/.ur
├── simulator
	└── raya_simulator_1.0.4_linux
			└── ...
└── versions.txt

Usage:

rayasdk update [-h]

Optional arguments:

• h --help: Show this help message and exit

Example

rayasdk update

Output

# rayasdk update
Checking for updates...
Checking for full update...
...
Downloading Ra-Ya simulator v1.0.4...
...
Extracting...
Simulator updated successfully
Removing old Ra-Ya containers and images...
Docker image 'raya_os:1.0.10' not found.
Downloading Ra-Ya OS v1.0.10 (only once)...
Copying gs://raya_files/Common/TestingVCS/raya_os_1.0.10.zip...
- [1/1 files][  1.8 GiB/  1.8 GiB] 100% Done   3.8 MiB/s ETA 00:00:00           
Operation completed over 1 objects/1.8 GiB.                                      
Extracting Ra-Ya OS image.
Creating image...
...
Loaded image: unlimited_robotics/raya_os/gary_unity:1.0.10
Update completed successfully.

run

Execute the current Raya project according to the connection settings.

Usage:

rayasdk run [-d]

Optional arguments:

• --debug: Wait for the vscode client for debug purposes.

Example

rayasdk run

kill

Kill all Ra-Ya apps that are executed by the user rayadevel.

Usage:

rayasdk kill [-h]

Optional arguments:

• h --help: Show this help message and exit

Example

rayasdk run

Notes

• The credentials if you want to connect over ssh to the robot using the rayadevel user are USER: rayadevel Password: gary Port:2222
• The app is deleted when the container is closed, the route for the apps that are being runned is /opt/raya_os/rayadevel/apps/{APP_ID}
• In the simulator the .ur/simulator/apps folder gets mounted, if this folder is deleted the container will not use it, so if you try to run an app it is going to fail, close the container, run any command in the sdk and run the bringup again
• In your home folder there is going to be a folder called .ur that contains two files and a file that saves the current robot that is going to be used in the run option and a folder with the simulator and the apps that are used in the simulation.