tinynav 0.0.12

CLI for TinyNav

tinynav-cli

A lightweight command-line interface for TinyNav.

Install

pip install tinynav

Commands

tinynav init
tinynav doctor
tinynav example
tinynav nav
tinynav map status
tinynav map start_record
tinynav map stop_record
tinynav map build --rosbag-name <rosbag_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 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, their directory sizes, and whether a corresponding map has been built
• tinynav map build --rosbag-name <rosbag_name>
  • allowed only in idle
  • starts the map build workflow in a tmux session inside the container

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/