ROS 2

Minot seamlessly works with ROS to integrate into existing robot pipelines.

Binaries

We precompile the CLI with coordinator and ROS 2 publisher for our PPA.

UOS PPA

curl -fsSL "https://uos-robotics.codeberg.page/ppa/ubuntu/key.gpg" | gpg --dearmor \
  | sudo tee /usr/share/keyrings/uos-archive-keyring.gpg >/dev/null
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/uos-archive-keyring.gpg] https://uos-robotics.codeberg.page/ppa/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/uos.list
sudo apt update

After the setup, you can install the matching package for any of the supported ROS 2 releases. Lyrical, Jazzy, and Humble packages are built for amd64 and arm64.

# humble
sudo apt install ros-humble-minot

# jazzy
sudo apt install ros-jazzy-minot

# lyrical
sudo apt install ros-lyrical-minot

You can also use the installation script after sourcing ROS. It selects the release matching $ROS_DISTRO when a prebuilt archive is available and falls back to a source build otherwise.

curl -sSLf https://stelzo.codeberg.page/minot/install | sh -s -- --ros-distro "$ROS_DISTRO"

Source

On Lyrical, Jazzy, and Humble, you'll need to install a more modern Rust compiler first. The recommended script will automatically give you a newer version than 1.85, which is all we need.

The Minot CLI integrates seamlessly with typical ROS tooling. Just clone the repository into the src folder of your ROS workspace.

cd ~/ros2_ws/src
git clone https://codeberg.org/stelzo/minot
cd ..

rosdep install --from-paths src -y --ignore-src

colcon build --packages-select minot
source install/local_setup.bash

Building will take a while.

Now run it like any ROS node.

ros2 run minot minot sync <file.mt>

High Disk Space Requirement

Building from source will create huge incremental cache artifacts. We recommend to use the binary installation wherever possible.