hydrakon 0.1.0

CLI tool for testing Hydrakon packages

Hydrakon CLI

Hydrakon CLI is a diagnostic and validation tool designed for autonomous racing systems. It provides a suite of utilities to verify system health, validate ROS 2 topics against strict configurations, and visualize coordinate transform (TF) trees in real-time.

This tool simplifies the pre-race check procedure by automating the verification of hardware interfaces, sensor data streams, and software states.

Installation

From PyPI

To install the latest stable version:

pip install hydrakon

From Source (Development)

For active development or deployment on specific hardware (e.g., NVIDIA Jetson):

git clone https://github.com/Atlas-Racing/Hydrakon-CLI.git
cd Hydrakon-CLI
pip install -e .

Configuration

Hydrakon uses a hydrakon.yaml file in the working directory to define expected system states.

Structure

topics:
  - name: /scan
    type: sensor_msgs/msg/LaserScan
    hz: 10
    tolerance: 0.1  # Allow +/- 10% deviation

  - name: /odometry/filtered
    exists: true    # Only check if topic is active

frames:
  - name: map
  - name: odom
  - name: base_link

Commands

Interface Testing

Checks for the presence and operational state of specific hardware interfaces.

Command:

hdk test can0

Behavior:

• Verifies if the network interface can0 exists.
• Checks if the interface state is UP.
• Returns an error code if the interface is missing or down.

Topic Validation

Validates active ROS 2 topics against the hydrakon.yaml configuration.

Command:

hdk test topics

Options:

• --all: Lists all active topics on the system, highlighting those that are present but not configured in the YAML file.
• --config <path>: Specify a custom configuration file path (default: hydrakon.yaml).

Checks Performed:

1. Existence: Is the topic published?
2. Type: Does the message type match the configuration?
3. Frequency (Hz): Is the publishing rate within the specified tolerance?

TF Visualization

Captures and displays the Transform (TF) tree structure directly in the terminal.

Command:

hdk show tfs

Options:

• --all: Displays the entire TF tree found on the system, ignoring filters.
• --duration <seconds>: Sets the listening duration (default: 5.0s).
• --debug: Prints raw capture data and parsing logs for troubleshooting.

Behavior:

• Listens to /tf and /tf_static for the specified duration.
• Parses the transform hierarchy.
• Renders an ASCII tree view of the coordinate frames.
• By default, filters the view to show only frames listed in hydrakon.yaml to reduce noise.

Release Process

To release a new version to PyPI:

1. Run the release helper script:

   python release_helper.py
   

2. Enter the new version number when prompted.
3. Select the target repository (TestPyPI or PyPI).
4. Provide credentials when requested.