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# MOV.AI Flow™
### An IDE that introduces visualization and `structure to ROS_`
You can develop faster, understand ROS projects in an instant, and debug easily.
<p align="center">
<a href="https://www.mov.ai/flow/"><img src="/docs/media/movai-flow-logo.jpg" alt="An IDE that introduces visualization and structure to ROS"></a>
</p>

![teaser2](https://media.giphy.com/media/O8EalLOaPKzDv8bp22/giphy.gif)
<p align="center">
<a href="https://github.com/MOV-AI/movai-flow/releases/latest"><img alt="CircleCI" src="https://img.shields.io/github/release/MOV-AI/movai-flow.svg?label=current+release"></a>
<a href="https://github.com/MOV-AI/movai-flow/actions/workflows/DeployOnGitRelease.yml"><img alt="Official Release" src="https://github.com/MOV-AI/movai-flow/actions/workflows/DeployOnGitRelease.yml/badge.svg"></a>
<a href="https://github.com/MOV-AI/movai-flow/actions/workflows/DeployOnMergeMain.yml"><img alt="Pre Release" src="https://github.com/MOV-AI/movai-flow/actions/workflows/DeployOnMergeMain.yml/badge.svg"></a>
<a href="https://github.com/MOV-AI/movai-flow/actions/workflows/TestOnPR.yml"><img alt="PR Checks" src="https://github.com/MOV-AI/movai-flow/actions/workflows/TestOnPR.yml/badge.svg"></a>
<a href="https://twitter.com/MovAIRobots"><img alt="Twitter" src="https://img.shields.io/twitter/url/http/shields.io.svg?style=social"></a>

MOV.AI Flow™ brings many features to your ROS project development:
</p>

<p align="center">
<i>MOVAI Flow,</i> The IDE that introduces visualization and structure to ROS.
</p>


# Overview
An IDE that introduces visualization and structure to ROS. You can develop faster, understand ROS projects in an instant, and debug easily.

<p align="center">
<a><img alt="Teaser2" src="https://media.giphy.com/media/O8EalLOaPKzDv8bp22/giphy.gif"></a>
</p>

## [MOV.AI Flow™](https://mov.ai/flow) brings many features to your ROS project development

| <img src="http://files.readme.io/77ed66f-movaiflow_feat1.png" width="400"/>|<img src="https://files.readme.io/7381cb9-feat2_fms.png" width="400"/> |
|:--:|:--:|
Expand All @@ -14,9 +33,9 @@ MOV.AI Flow™ brings many features to your ROS project development:
| <img src="https://files.readme.io/c6345de-flow_feat5_configs.png" width="400"/> | <img src="https://files.readme.io/91c9444-feat6_ros.png" width="400"/> |
| *Configuration Editor* | *Out-of-the-box Integration with the ROS Ecosystem*|



## Supported Systems
---
## Let's get started :smile:
### Supported Systems
Ubuntu [20.04 - x64](https://ubuntu.com/download/desktop/thank-you?version=20.04.4&architecture=amd64)

### Minimum Specs
Expand All @@ -28,21 +47,15 @@ Ubuntu [20.04 - x64](https://ubuntu.com/download/desktop/thank-you?version=20.04
- RAM 8 GB
- NVIDIA GPU (For Ignition simulator)

### Install and configure requirements
Install the requirements by either following the respective links or copy paste the below commands into your terminal if you have the supported system mentioned above:

## Before you begin
### Needed Software

- `docker > 20.10.8`
- `docker-compose > 1.29.2`
- [Instructions](https://docs.docker.com/engine/install/ubuntu/)

### Setup

- Manage Docker as a non-root user [(Instructions)](https://docs.docker.com/engine/install/linux-postinstall)
- Do you have NVIDIA GPU? Install Docker NVIDIA's toolkit for HW acceleration [(Instructions)](https://docs.nvidia.com/ai-enterprise/deployment-guide/dg-docker.html#enabling-the-docker-repository-and-installing-the-nvidia-container-toolkit)
- While the SW is not public, you need to do docker login after installing Docker.

### Just give me some steps!
- docker > 20.10.8
- [Install docker](https://docs.docker.com/engine/install/ubuntu/)
- docker-compose > 1.29.2
- [Install docker-compose](https://docs.docker.com/compose/install/)
- Manage Docker as a non-root user
- [Docker post install steps](https://docs.docker.com/engine/install/linux-postinstall)

```shell
sudo apt update && sudo apt upgrade
Expand All @@ -59,7 +72,10 @@ sudo groupadd docker
sudo gpasswd -a $USER docker
```

NVIDIA GPU support
### Install NVIDIA toolkit (optional but recommended for simulation)

- Do you have NVIDIA GPU? Install Docker NVIDIA's toolkit for HW acceleration
- [Nvidia container toolkit installation](https://docs.nvidia.com/ai-enterprise/deployment-guide/dg-docker.html#enabling-the-docker-repository-and-installing-the-nvidia-container-toolkit)

```shell
#Add the package repositories:
Expand All @@ -74,58 +90,52 @@ sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker
```

# Installing MOV.AI Flow&trade;
## Download
- Download the [latest release](https://github.com/MOV-AI/movai-flow/releases/latest/download) .deb file

---

## Install
Option A)
1. Open a Terminal, `cd` into downloads folder, and type `sudo dpkg -i ./movai-flow*.deb`
1. Enter your user password in the prompt. The installation should then execute, provide debugging information, and complete.
## Installation
#### Option A
- Download the debian file from the **Assets** section of the [latest releases page](https://github.com/MOV-AI/movai-flow/releases/latest)
- Click on the downloaded file in your browser or double click on the `movai-flow*.deb` file in your Downloads directory using a file explorer
- Enter your user password if there is a promt.
- Click the Install option. The Ubuntu Software Package Manager starts installing the downloaded app.

Option B)
1. Go to the Downloads folder.
1. Double-click on it to launch it.
1. Click the Install option. The Ubuntu Software Package Manager starts installing the downloaded app.
#### Option B
- Open a terminal
- Download the latest debian file
- Install it. Enter your user password if there is a promt.

```shell
# Install curl
sudo apt install curl
# Download and install the latest released debian pacakge
curl -s https://api.github.com/repos/MOV-AI/movai-flow/releases/latest | grep "browser_download_url.*deb" | cut -d : -f 2,3 | tr -d \" | xargs curl -LJO
# Install, please make sure you have the correct file
sudo apt install ./movai-flow-1.2.0*.deb
```

# Getting Started

## Shortcuts
## Usage
### Desktop shortcuts
Installing the Flow package will provide a few application shortcuts in the programming section:
- `MOV.AI Flow™`: launches the needed services and then open a browser connected to the flow
- `MOV.AI Flow™ RViz`: launches rviz connected to the flow
- `MOV.AI Flow™ Simulator`: launches Ignition simulator connected to the flow

![](https://files.readme.io/bcc3fb7-three_icons.png)
<p align="center">
<a><img alt="DesktopIcons" src="https://files.readme.io/bcc3fb7-three_icons.png"></a>
</p>

- MOV.AI Flow™: launches the needed services and then open a browser connected to the flow
- MOV.AI Flow™ RViz: launches rviz connected to the flow
- MOV.AI Flow™ Simulator: launches Ignition simulator connected to the flow

## CLI
Installing the MOV.AI Flow&trade; package will provide a few command line tools to control the cluster of containers running the flow:
### CLI
Installing the MOV.AI Flow™ package will provide a few command line tools to control the cluster of containers running the flow:
- `movai-flow-launch`: launch this script to launch the needed services and then open a browser connected to the flow
- `movai-flow-stop`: stop all flow services
- `movai-flow-rviz`: launch rviz connected to the flow
- `movai-flow-simulator`: launch Ignition simulator connected to the flow

## Accessing the MOV.AI Flow&trade; IDE
After starting MOV.AI Flow&trade;, you can interact with it in different ways:

- via a browser using the web interface
- ~~using the REST API~~

Once the services have started up, you can log in to the web interface and try to run some tasks.
The webserver is available at: http://localhost:8080. The default account has both the username and the password: `movai`.

## Accessing ROS *terminal*
To get access to `rostopic` and `rosbag` commands, or to install/build more ros-packages, access the ROS *terminal* typing:

`docker exec -it spawner-robot1 bash`

![docker_bash](https://files.readme.io/c451bb9-docker_spawer_bash.png)

# More Info
## MOV.AI Flow™ components

MOV.AI Flow&trade; initiates a set of services running as a `docker-compose` cluster, namely:
MOV.AI Flow™ initiates a set of services running as a *docker-compose* cluster, namely:

- redis-master: master DB of the cluster
- redis-local: local DB of the cluster
Expand All @@ -141,9 +151,52 @@ MOV.AI Flow&trade; initiates a set of services running as a `docker-compose` clu
> Run `docker images` to check all downloaded images into your disk.
> Run `docker container ls` to check current running containers
---

## Accessing the MOV.AI Flow™ IDE
After starting MOV.AI Flow™, you can interact with it via a browser using the web interface

Once the services have started up, you can log in to the web interface and try to run some tasks.
The webserver is available at: http://localhost:8080. The default account has both the username and the password: `movai`.

## Executing ROS commands
To get access to `rostopic` and `rosbag` commands, or to install/build more ros-packages, access the spawner container terminal by typing: `docker exec -it spawner-robot1 bash`

```
omen:~ $ docker exec -ti spawner-robot1 bash
./--/-` -/--/.
:--//:.-` `-.://:./ .-:::::::-- .:- .:- `:-
:`/-.`//:` `://`.-/.: `//-```````-//` ./:. .:-.:/. `-.
:./- -:/.:. .:`//- -/.: `//` `//` `:/-` `:/-` -/:` -//
:.:- `-:------:-` -/./ `//. .//` .::../:. `:/- -//
::.. `-:///-` ..:: .:/:::::::/:- `-//- .:- ./:`-//
`` `` ` ``````` `` ` ` ``
Copyright 2021 MOV.AI
Licensed under the Mov.AI License version 1.0;
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
https://www.mov.ai/flow-license/
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
Welcome! Have fun!
movai@8245cb518b06:~/app$
```

## Documentation
Follow our [documentation](https://flow.mov.ai/docs) to get detailed information on getting familiar with the platform and how to setup your flows.

---

## Installing the Flow from sources
## Running from source code

Clone the repository or download the sources and follow the following instructions.

Expand All @@ -166,12 +219,12 @@ Now you can start core services, by `cd`ing into the folder where `docker-compos

> The recommeded setup is to have an NVidia GPU, but still an integrated Intel GPU can also work with lower performance
##### With Nvidia GPU acceleration :
#### With Nvidia GPU acceleration :

xhost +local:docker
docker-compose -f docker-compose-nvidia.yml up ros-tools

##### Without GPU acceleration :
#### Without GPU acceleration :

xhost +local:docker
docker-compose -f docker-compose.yml up ros-tools
Expand All @@ -183,18 +236,18 @@ First of all be aware that the Simulator is based on the containerized [Ignition
After starting MOV.AI Flow™, you can launch Ignition Fortress :

##### With Nvidia GPU acceleration :
#### With Nvidia GPU acceleration :

xhost +local:docker
docker-compose -f docker-compose-nvidia.yml up simulator

##### Without GPU acceleration :
#### Without GPU acceleration :

xhost +local:docker
docker-compose -f docker-compose.yml up simulator


### Cleaning-up the environment
### Cleaning up the environment
The docker-compose we prepare is a “Quick-start” one. It is not intended to be used in production and it has a number of caveats - one of them being that the best way to recover from any problem is to clean it up and restart from the scratch.

The best way to do it is to:
Expand Down
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