tinynav-cli

A lightweight command-line interface for TinyNav.

Install

pip install tinynav

Commands

tinynav init
tinynav doctor
tinynav example
tinynav tunnel [--serial <serial>]
tinynav nav status
tinynav nav start --map-name <map_name>
tinynav nav go [--pois 2,1,0]
tinynav nav stop
tinynav map status
tinynav map start_record
tinynav map stop_record
tinynav map build --rosbag-name <rosbag_name>
tinynav map edit_pois --map-name <map_name>
tinynav map list
tinynav sensors
tinynav sensors --preview
tinynav version

Development

uv sync --dev
uv run tinynav --help
uv run python -m build
uv run twine check dist/*

Typical flow

tinynav init
tinynav doctor
tinynav example

• tinynav init prepares the container environment and builds models.
• tinynav doctor prints a machine report for debugging.
• tinynav example launches the rosbag example workflow inside the running container.
• tinynav tunnel [--serial <serial>] requests a tunnel config from the Uniflex tunnel API, uses the local machine hostname as the default serial when omitted, ensures cloudflared is installed, runs the returned install_command, and saves the JSON response to ${XDG_DATA_HOME:-$HOME/.local/share}/tinynav/tunnel.json.
• tinynav sensors checks connected sensors inside the running container, including RealSense detection and whether a ROS 2 looper node is present.
• tinynav sensors --preview launches the sensor preview workflow inside the running container via /tinynav/scripts/run_sensors_preview.sh.
• tinynav version prints the CLI version.

tinynav map commands

The tinynav map workflow uses three runtime states inferred directly from ros2 node list. No separate state file is used.

Map states

• idle
  • default state when neither recording nor map building is active
• recording
  • detected when ros2 node list contains /rosbag2_recorder
• building
  • detected when ros2 node list contains /build_map_node

State priority:

1. /build_map_node → building
2. /rosbag2_recorder → recording
3. otherwise → idle

Commands

• tinynav map status
  • reports one of idle, recording, or building
• tinynav map start_record
  • allowed only in idle
  • starts the recording workflow in a tmux session inside the container
• tinynav map stop_record
  • allowed only in recording
  • stops the recording workflow
• tinynav map list
  • allowed only in idle
  • lists rosbags in a formatted table with size, built status, and POI count
• tinynav map build --rosbag-name <rosbag_name>
  • allowed only in idle
  • starts the map build workflow in a tmux session inside the container
• tinynav map edit_pois --map-name <map_name>
  • allowed only in idle
  • starts the POI editor for an existing map in a tmux session inside the container
  • opens http://localhost:8080/ in the default browser when possible
  • reads and writes pois.json under the selected map directory

Planned data layout

All map-related outputs live under the TinyNav XDG data directory:

• rosbags: ${XDG_DATA_HOME:-$HOME/.local/share}/tinynav/rosbags/
• maps: ${XDG_DATA_HOME:-$HOME/.local/share}/tinynav/maps/

The intent is:

• recording outputs go under rosbags/
• map build outputs go under maps/
• map build consumes a rosbag name from rosbags/ and produces a map directory in maps/

tinynav nav commands

The tinynav nav workflow is managed inside a tmux session in the running container. The CLI currently uses the session name tinynav_nav.

Nav states

• idle
  • no navigation tmux session exists
• starting
  • tmux session exists but required ROS nodes are not all visible yet
• running
  • required ROS nodes are all present

Required ROS nodes:

• /perception_node
• /planning_node
• /map_node
• /cmd_vel_control_node

Commands

• tinynav nav status
  • reports one of idle, starting, or running
• tinynav nav start --map-name <map_name>
  • allowed only in idle
  • starts navigation panes in a tmux session inside the container
  • passes the selected map path to map_node.py
• tinynav nav go [--pois 2,1,0]
  • uses the map name recorded by the running nav tmux session
  • loads maps/<map_name>/pois.json
  • if --pois is provided, reorders the outer keys to match the requested POI id sequence
  • keeps each POI object's inner id unchanged
  • publishes the payload to /mapping/cmd_pois as std_msgs/String
• tinynav nav stop
  • stops the tmux-managed navigation workflow inside the container