Даниил Грабарь
79d88db930
- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons. - Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller. - Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer. - Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording. - Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux. - Created a section on installing a Windows compatibility tool (PortProton) on Linux. - Documented the installation process for SunriseWorkbench on Linux using PortProton. - Added installation instructions for SunriseWorkbench on Windows. - Created troubleshooting documentation for configuration errors and SSL errors during installation. - Implemented a hook to generate the shared PDF only during the default-language build.
170 lines
3.8 KiB
Markdown
170 lines
3.8 KiB
Markdown
# cobot CLI commands
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`cobot` is the single entry point for managing the entire project. Use it for operations involving the robot, simulator, Docker containers, and documentation.
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## Help
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```bash
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cobot -h
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```
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The help output is divided into four command groups:
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- **Setup commands** — system configuration;
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- **Run commands** — starting the project;
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- **Build commands** — building ROS 2;
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- **Management commands** — package management.
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Some commands have their own subcommands. For example:
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```bash
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cobot doc-setup rebuild # rebuild subcommand of doc-setup
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cobot doc-setup --help # help for a command's subcommands
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```
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---
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## Setup commands
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Commands for initial and repeated system setup.
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### `cobot setup`
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First-run setup wizard. It guides you through three steps:
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1. Configure the documentation server.
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2. Configure robot parameters in `cobot-setting.yaml`: IP address, FRI port, and tool.
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3. Select a build environment: native ROS 2 Jazzy or a Docker image.
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```bash
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cobot setup
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```
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Use this command for the first installation instead of running each setup command manually.
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---
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### `cobot local-setup`
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Installs ROS 2 Jazzy locally without Docker: downloads dependencies with `rosdep` and builds the workspace with `colcon`.
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```bash
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cobot local-setup
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```
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!!! note
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After the command finishes, run `source ~/.bashrc` or open a new terminal.
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---
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### `cobot docker-setup`
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Builds or downloads the Docker images used to run the project in isolation. Two options are available:
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- **Build from the Dockerfile** — slower, but produces an up-to-date image;
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- **Download a prebuilt image** — faster, using a published image.
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```bash
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cobot docker-setup
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```
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---
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### `cobot doc-setup`
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Deploys a local MkDocs documentation server containing a full copy of the [online documentation](https://daniel-robotics.gitverse.site/lightweight-cobot/).
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```bash
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cobot doc-setup # start/build the documentation
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cobot doc-setup rebuild # rebuild the documentation image
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```
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After startup, the documentation is available at `http://localhost:8000`.
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---
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### `cobot robot-setup`
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Interactive wizard for configuring `cobot-setting.yaml`. It asks for the robot IP address, FRI port, active tool, and other parameters.
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```bash
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cobot robot-setup
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```
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!!! tip
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Use this command to change the configuration. It validates the entered values and prevents YAML syntax errors. See [System configuration](configuration.md) for parameter details.
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---
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## Run commands
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### `cobot run`
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Starts the full stack: hardware interface, MoveIt 2, RViz, and optional components such as Foxglove and the REST API. At startup, it asks you to select:
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- **Docker or local execution**;
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- **Webots simulation or the physical robot**.
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```bash
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cobot run # select the mode interactively
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cobot run --simulate # force simulation mode
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```
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---
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## Build commands
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### `cobot rebuild`
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Rebuilds the ROS 2 workspace with `colcon`. Use it after changing package source code.
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```bash
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cobot rebuild
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```
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!!! note
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This command is available only for a local installation, not Docker. It is equivalent to `colcon build --mixin release`.
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---
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### `cobot clean`
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Removes generated build directories. It prompts you to select which directories to remove:
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- `build/` — compilation artifacts;
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- `install/` — installed package files;
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- `log/` — build logs.
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```bash
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cobot clean
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```
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---
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## Management commands
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### `cobot update`
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Downloads the latest project version from GitVerse and reinstalls the `cobot` CLI.
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```bash
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cobot update
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```
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---
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### `cobot delete`
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Removes project components from the system. It lets you remove only the project, the Docker images and containers, or ROS 2 as well.
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```bash
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cobot delete
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```
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!!! danger
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This operation is irreversible. Removed files and Docker images must be installed again.
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---
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**Robot control:** [Control via the REST API](control/rest-api.md)
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