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.
3.8 KiB
cobot CLI commands
cobot is the single entry point for managing the entire project. Use it for operations involving the robot, simulator, Docker containers, and documentation.
Help
cobot -h
The help output is divided into four command groups:
- Setup commands — system configuration;
- Run commands — starting the project;
- Build commands — building ROS 2;
- Management commands — package management.
Some commands have their own subcommands. For example:
cobot doc-setup rebuild # rebuild subcommand of doc-setup
cobot doc-setup --help # help for a command's subcommands
Setup commands
Commands for initial and repeated system setup.
cobot setup
First-run setup wizard. It guides you through three steps:
- Configure the documentation server.
- Configure robot parameters in
cobot-setting.yaml: IP address, FRI port, and tool. - Select a build environment: native ROS 2 Jazzy or a Docker image.
cobot setup
Use this command for the first installation instead of running each setup command manually.
cobot local-setup
Installs ROS 2 Jazzy locally without Docker: downloads dependencies with rosdep and builds the workspace with colcon.
cobot local-setup
!!! note
After the command finishes, run source ~/.bashrc or open a new terminal.
cobot docker-setup
Builds or downloads the Docker images used to run the project in isolation. Two options are available:
- Build from the Dockerfile — slower, but produces an up-to-date image;
- Download a prebuilt image — faster, using a published image.
cobot docker-setup
cobot doc-setup
Deploys a local MkDocs documentation server containing a full copy of the online documentation.
cobot doc-setup # start/build the documentation
cobot doc-setup rebuild # rebuild the documentation image
After startup, the documentation is available at http://localhost:8000.
cobot robot-setup
Interactive wizard for configuring cobot-setting.yaml. It asks for the robot IP address, FRI port, active tool, and other parameters.
cobot robot-setup
!!! tip Use this command to change the configuration. It validates the entered values and prevents YAML syntax errors. See System configuration for parameter details.
Run commands
cobot run
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:
- Docker or local execution;
- Webots simulation or the physical robot.
cobot run # select the mode interactively
cobot run --simulate # force simulation mode
Build commands
cobot rebuild
Rebuilds the ROS 2 workspace with colcon. Use it after changing package source code.
cobot rebuild
!!! note
This command is available only for a local installation, not Docker. It is equivalent to colcon build --mixin release.
cobot clean
Removes generated build directories. It prompts you to select which directories to remove:
build/— compilation artifacts;install/— installed package files;log/— build logs.
cobot clean
Management commands
cobot update
Downloads the latest project version from GitVerse and reinstalls the cobot CLI.
cobot update
cobot delete
Removes project components from the system. It lets you remove only the project, the Docker images and containers, or ROS 2 as well.
cobot delete
!!! danger This operation is irreversible. Removed files and Docker images must be installed again.
Robot control: Control via the REST API