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Version: 0.12.0

Command Line Interface

By default, the OutdoorNav Software begins automatically when the system is powered on. This section outlines the OutdoorNav Command Line Interface (CLI), the set of commands that can be used by developers who are debugging the system or who want more precise control for managing the OutdoorNav software.

Connecting to the OutdoorNav Computer​

To connect to your UGV, consult its corresponding user manual.

If you are using a Clearpath Robotics UGV with a separate OutdoorNav Computer, first ssh to the UGV using the details provided in the UGV user manual. Then, if a separate OutdoorNav Computer exists, you can connect to it by running:

ssh administrator@192.168.131.5

OutdoorNav CLI Installation​

The OutdoorNav CLI is pre-installed on Clearpath robots. If it has not been installed on your system, it can be installed by running the following on the OutdoorNav Computer:

sudo apt-get install python3-onav-cli
note

The command above requires that the Clearpath Package Server has been configured on your OutdoorNav Computer. This is pre-configured on Clearpath robots. Refer to details on the Clearpath Package Server if this is not configured on your computer.

Listing the OutdoorNav CLI Commands and Getting Help​

To list all of the CLI commands, run the following on the OutdoorNav Computer:

onav help

The CLI commands are:

  • install: Download and configure OutdoorNav
  • key: Get, set, or delete your OutdoorNav license key
  • download: Download OutdoorNav, but do not configure it
  • configure: (Re)configure OutdoorNav
  • upgrade: Upgrade OutdoorNav to the latest vesion
  • uninstall: Uninstall OutdoorNav
  • depends: Verify and install dependencies
  • start: Start OutdoorNav
  • stop: Stop OutdoorNav
  • status: Check the status of OutdoorNav
  • logs: View OutdoorNav logs
  • versions: Print versions available to install
  • help: Show available commands

To get help on an individual command, use the -h option. For example, to get help on the install command, run onav install -h:

usage: onav install [-h] [-k KEY] [-b] [-c] [-H] VERSION

positional arguments:
  VERSION               The OutdoorNav version to install (e.g. 0.11.0)

optional arguments:
  -h, --help            show this help message and exit
  -k KEY, --key KEY     Your OutdoorNav installation key
  -b, --backpack        Configure in backpack/bridged mode
  -c, --clean           Clean any configurations from a prior installation

Starting and Stopping the OutdoorNav Software​

On UGV startup, all the sensors, the user interface, as well as the autonomy software are set to start automatically. When debugging or when greater control is desired, the CLI can be used to start and stop the OutdoorNav software, in whole or in part.

To see the current status of OutdoorNav software, run:

onav status

To start the OutdoorNav software if it is not running, use the following command, which starts the latest version of the software by default:

onav start

To stop the OutdoorNav software, run:

onav stop

Stopping and Restarting the Autonomy Software Only​

To use the UGV without the autonomy software, use the following command to stop the nodes and prevent them from automatic startup:

onav stop -s autonomy

The autonomy software can be restarted by running:

onav start -s autonomy

Stopping/Restarting the Sensors​

To use the UGV without the sensors, use these commands to disable the nodes and prevent them from automatic startup:

onav stop -s sensors
note

This command will only disable the drivers for the sensors that are started by the OutdoorNav software. This includes the GNSS units, the Microstrain IMU, and any LiDAR/Stereo detection sources (not limited to Velodyne LiDARs, Realsense cameras, 2D Lidars).

The sensors software can be restarted by running:

onav start -s sensors

Accessing the OutdoorNav Software Logs​

To check the logs of the OutdoorNav software, use the onav logs command with the appropriate service. For example, to view the logs for the sensors service, run:

onav logs sensors

Installing the OutdoorNav Software​

OutdoorNav is typically pre-installed on Clearpath robots, so most users should not need to do a first-time installation of the software, though the process is outlined below as a reference.

As a first step, confirm that the robot has internet access. For example, confirm that the following command is successful:

ping 8.8.8.8

Second, the required dependencies need to be installed by running:

onav depends

Third, a key needs to be added onto the robot to enable the installation process. Contact Clearpath Support if you did not receive your key. To add your key, run the following, replacing <YOUR_KEY> with the actual value:

onav key <YOUR_KEY>

Fourth, list the versions available for installation by running:

onav versions

Fifth, install the OutdoorNav software for the desired version (typically the newest version), by running the following, replacing <TARGET_VERSION> with the version to be installed:

onav install <TARGET_VERSION>

When prompted, trigger the reboot.

Finally, following the reboot, run the following command to start the OutdoorNav software. This will only be required the first time after installation.

onav start <TARGET_VERSION>

Upgrading the OutdoorNav Software​

After receiving a notice that a new version of the OutdoorNav Software is available, use the onav upgrade command with the appropriate version. For example, to upgrade to the newest avialbel version that you are eligible to receive, run the following command:

onav upgrade
note

The upgrade requires internet access to download the new software. Confirm that the OutdoorNav Computer has internet access by running a command such as:

ping 8.8.8.8

Uninstalling Old Versions of OutdoorNav Software​

If old versions of OutdoorNav software are no longer being used, they can be removed with the onav uninstall command. For example, to uninstall 0.11.0 run:

onav uninstall 0.11.0
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