cerulion_cli

The cerulion command-line tool for Cerulion, a zero-copy, deterministic framework for real-time robotics.

Install

cargo install --locked cerulion_cli cerulion_netd

cerulion_netd is the network gateway daemon the CLI starts when a command needs a remote robot's topic. Release binaries and the Homebrew and Debian packages are in the installation guide.

First run

cerulion workspace create my_robot
cd my_robot

# A node that fires every 100 ms and publishes one geometry_msgs/Vector3.
cerulion node create sensor --policy period_ms=100 -o geometry_msgs/Vector3 reading
# Edit nodes/sensor/src/lib.rs so tick writes the output, for example:
#     self.reading.x = self.tick_count as f64;
cerulion node build sensor

cerulion graph create perception -n my_robot
cerulion node stage sensor -g perception
cerulion graph validate perception
cerulion graph run perception

# In a second terminal:
cerulion topic echo /my_robot/sensor/reading

A node with no input has nothing to trigger it, so node create needs --policy period_ms=N (or --policy external). An output that tick never writes publishes nothing. On Unix, graph run runs the graph across several processes by default and asks before it writes that layout into the graph file; --single-process opts out.

cerulion --help prints the whole command tree, and each subcommand answers --help except ros2 run and ros2 launch: those forward every argument, --help included, to the native ros2, and refuse with exit 69 until librmw_cerulion.so sits beside the cerulion binary. Install the ROS 2 release package, or build rmw_cerulion against your ROS 2 headers and set CERULION_LIB_DIR to the directory holding librmw_cerulion.so. The quickstart adds recording and replay verification, and the API reference documents every verb.

This crate is a thin clap wrapper over cerulion_cli_engine, where the command logic lives.

License

Licensed under the GNU Affero General Public License v3.0 only (AGPL-3.0-only). See the LICENSE file. A separate commercial license is available; see the project README.