Build and Install

Build from pip

pip install intrepid-python-sdk

Build from sources

Create a new conda environment with conda create -n intrepid python=3.10

Activate environment with

conda activate intrepid

Install poetry with pip install poetry and all requirements pip install -r requirements.txt

Build Python Intrepid SDK

poetry build
poetry install

Example for showcasing Python bindings

Create Python Node

A Python node is created from dashboard and rendered according to the Python function signature that is attached.

A Python SDK allows to

1. register any user-defined function to the runtime and
2. execute the service that exposes such function(s)

In the example below, two functions are declared and registered to the Intrepid runtime. Finally the runtime is started and made ready for execution

import asyncio
from intrepid_python_sdk import Intrepid
from pydantic import BaseModel


def simple_node(a: int, b: int) -> int:
    """Example node that adds two numbers"""
    return a + b

def simple_node_with_defaults(a: int = 10, b: int = 10) -> int:
    """Example node that adds two numbers (with default values)"""
    return a + b


if __name__ == "__main__":
    runtime = Intrepid(namespace="test")
    runtime.register_node(simple_node)
    runtime.register_node(simple_node_with_defaults, label="SimpleNodeDefault", description="A node handling types with default values")
    runtime.start("0.0.0.0", 8765)

The code above can be saved to my_node.py and executed with python my_node.py

You can now connect Intrepid Agent to 0.0.0.0:8765

Start Intrepid Runtime Core

Execute the Intrepid runtime (intrepid-agent) with arguments --web to expose the control dashboard to localhost --load ws://<host>:<port> where the service is running

./intrepid-agent --web --load ws://localhost:8765

This should show

  ╔══════════════════════════════════╗
  ║                                  ║
  ║ 🚀  Web service is running on:   ║
  ║                                  ║
  ║ 🔗  http://127.0.0.1:9180        ║
  ║                                  ║
  ╚══════════════════════════════════╝

Point the browser to http://127.0.0.1:9180 and search for the exposed nodes (right click and search) At this point you can create the behavior you need, by importing and connecting the nodes you need. Click Run to execute such behavior.

Publish node

Not yet implemented.

Examples

An exhaustive list of sample nodes is provided in examples/agent/run_demo.py.

An example to call ROS2 utilities is provided in examples/agent/ros2_demo.py