nova-rerun-bridge 0.9.0

Visualizes the state of your nova instance inside of [rerun.io](https://rerun.io). This is intended to be used alongside the [nova python lib](https://github.com/wandelbotsgmbh/wandelbots-nova).

nova rerun bridge

Visualizes the state of your nova instance inside of rerun.io. Rerun is a tool to quickly visualize time series data. Instructions for navigation within the Rerun Viewer. This is intended to be used alongside the nova python lib. You will need a running nova instance. Register on wandelbots.com to get access.

The bridge supports:

• robot (see a list of supported robots)
• trajectory
• dh parameters of robot
• collision model of robot
• safety zones of the robot controller
• collision objects defined in the collision store

Install the app with the nova cli tool by running:

nova catalog install rerun

to use it on your nova instance.

https://github.com/user-attachments/assets/ab527bc4-720a-41f2-9499-54d6ed027163

rerun desktop app

Setup

Adjust the WANDELAPI_BASE_URL and NOVA_ACCESS_TOKEN in the .env file to your instance URL (e.g. https://unzhoume.instance.wandelbots.io) and access token. You can find the access token in the developer portal.

Run the following command to install the dependencies:

poetry install

Run

There are two script which can be run to feed the data to the rerun desktop app:

• run python scripts/populate.py to start a service which periodically polls the nova instance for new planned trajectories
• run python scripts/stream_motion_groups.py to start a service which streams the state of the active motion groups

Development

Deploy on local instance

• use the kubeconfig from your nova instance and run export KUBECONFIG=kubeconfig

• you can use skaffold to build the image and change the deployment

skaffold dev --cleanup=false --status-check=false

Tools

• code formatting and linting is done with [ruff]

poetry run ruff check scripts/. --fix
poetry run ruff format

Build

To build the package locally, run the following command

poetry build

This will create a dist/ directory with the built package (.tar.gz and .whl files).

Installation

pip install wandelbots

Install a development branch in Poetry

nova-rerun-bridge = { git = "https://github.com/wandelbotsgmbh/nova-rerun-bridge.git", branch = "feature/branchname" }

Issues

• rerun is able to run behind reverse proxy and the viewer can connect via web
• rerun sdk is not able to connect to rerun which is hosted behind reverse proxy
  • client communicates just via sockets
  • intermediate solution is socat

brew install socat
socat TCP4-LISTEN:6666,fork SYSTEM:"curl -X POST -d @- http://172.30.2.224/some/rerun/sdk/"

{ echo "load_module /usr/lib/nginx/modules/ngx_stream_module.so;"; cat /etc/nginx/nginx.conf; } > temp_file && mv temp_file /etc/nginx/nginx.conf