NORTHSTARGetting started
Quickstart
The shortest path from a new robot computer to a robot that is online and ready for a session. Northstar operators drive it from there; you do not need a headset.
Before you start
- A supported robot computer, arms and cameras, wired up and powered. See Supported hardware.
- An account. Northstar creates it and gives you a login for the console.
- For YAM and MakerMods Metal arms: both CAN links up.
- A terminal on the robot computer with internet access.
Install
Pick your robot. The installer verifies every file it downloads.
curl -fsSL https://arc.northstarrobotics.ai/install.sh | bash -s -- --backend yam
source ~/arc_env/bin/activateAdd --realsense if any camera is a RealSense, or --dry-run to see what the installer would do. If arc is already taken on your machine, use arctele. It runs the same client. Install has every option.
Enroll
In the console, open Robots, find Enrollment key and select Show key. Then, on the robot:
arc enrollThe command asks you to paste the key, then for the robot's name and the arm type, and shows a summary before it enrolls.
Paste the enrollment key and press Enter: nsk_acme_xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
[arc] key read: it is for account acme
Robot name, as the console will show it [jetson]: cell-1
...
[arc] enrolled: robot acme-cell-1, account acme
[arc] identity: ~/.config/arc/identity (robot key mode 0600)
[arc] Next: arc setupFor a script, arc enroll KEY --name NAME --backend BACKEND --yes asks nothing. Enroll has the details.
Setup
Pick a directory for the robot's files, for example ~/robot, and run the rest from there.
arc setupSetup writes robot.toml one step at a time. It lists the cameras it finds, saves a frame of each, and asks which is the overhead camera and which is on each wrist. Then it asks which link is the left arm, shows every value, and asks once to confirm.
Setup does not move an arm. If a value is still blank, run it again. It keeps what is set and asks only for the blanks.
Doctor
arc doctor --identify robot.tomlPASS configuration robot.toml is complete
PASS enrollment acme-cell-1
PASS cameras exo, wristL, wristR
PASS arms left, rightWith --identify it saves one frame per camera and reads the joints while you move each arm by hand, so swapped cameras or arms show up before the first run. It enables no motor and commands no motion.
Run
arc run robot.tomlThe robot connects and waits. Nothing moves until an operator takes control. To stay online across reboots, see Run as a service.
What to expect in the console
- After you enroll, the robot appears in the Robots table as Offline.
- While
arc runis connected, it shows as Online. - Northstar operators can now start a session. See Teleoperation.