pashupati_fleet
Robot side of the NETRA command center. fleet_uplink_node keeps one WebSocket to the server and an on-disk spool for uploads, so a robot that loses Wi-Fi in the middle of a patrol loses nothing. The wire contract is API.md (v1).
| Data | Source (Dharma 0.2) | Sent as |
|---|---|---|
| Telemetry (1 Hz) | control/status, navigation/status, localization/status, health/status + /diagnostics, battery, driver, TF | WebSocket telemetry |
| Patrol and stop events | navigation/status (laps, finish), navigation/stop_point | WebSocket, replayed after reconnect |
| Alerts | follower BLOCKED, OFF_PATH, FAILED; the control mux's e-stop with its reasons | WebSocket alert |
| Crowd heatmap | perception/people → peak people per 1 m cell per minute | WebSocket crowd |
| Anomalies | anomaly_detector/result + the frame it was found in (anomaly_detector/evidence, latest frame as fallback) + pose | HTTP upload, spooled |
| Taught routes | route/saved (dharma_mapping) | HTTP upload, spooled |
NETRA's commands become the stack's services: start_patrol (route downloaded into the active site, navigation/load_path, navigation/start), stop_patrol, pause, resume (navigation/*), localize, estop (control/estop_request at once, then control/estop/engage), estop_release, dock, undock, set_inspection, set_people. Each is acknowledged.
fake_netra
A stand-in NETRA (standard library only) for the simulator and the tests: it accepts the robot's WebSocket, records what it sends, answers uploads and serves route files.
ros2 run pashupati_fleet fake_netra --port 8765 --log /tmp/netra.jsonl
ros2 launch pashupati sim.launch.py cc_url:=http://127.0.0.1:8765Layout
| Module | |
|---|---|
fleet_uplink_node.py | subscriptions, commands, spooling |
core/patrol.py | the patrol: start, laps, alerts, finish, stop events |
core/anomalies.py | findings waiting for their frame |
core/crowd.py, core/poses.py, core/spool.py, core/routes.py, core/switches.py, core/anomaly.py | heatmap, pose history, the outbox on disk, route ids and summaries, detector switches, result parsing |
utils/connection.py | WebSocket (reconnect, outbox) and the uploader threads |
utils/telemetry.py | the status subscriptions |
tools/fake_netra.py | the stand-in server |
Launch and test
ros2 launch pashupati_fleet fleet.launch.py robot_ns:=robot server_url:=https://netra.example.com token:=<token>
colcon test --packages-select pashupati_fleet && colcon test-result --verboseWithout server_url the node only spools (~/.pashupati/spool). Parameters: config/fleet.yaml, ros2 param describe /fleet_uplink_node <name>.