Transitive Robotics
TransAct is an example of the kinds of robot fleet management dashboards/cloud portals/mission control centers/robot operating centers you can build using Transitive. It serves three purposes:
-
demonstrate how Transitive can be used to build web-based robot management systems,
-
demonstrate how to integrate Transitive Capabilities into your own web dashboards, and
-
serve as a reference implementation that we invite you to fork and build on if you are just starting out building your own system.
We believe that robotics companies face a make-vs-buy dilemma and our mission is to solve this by offering a middle-ground: making it easy for them to build their own fleet management system that perfectly meets their needs.
In the standard configuration it embeds several capabilities:
- Remote Teleop, to control your robot with low-latency video from anywhere in the world,
- Terminal, for web-based shell access,
- ROS Tool, for subscribing to ROS topics from the web, used to show robot pose, battery and charging status in our example, and make service calls,
- Configuration Management, for editing config files on your fleet hierarchically (with fleet defaults and robot specific overwrites), and
- Health Monitoring, for monitoring device diagnostics and aggregated fleet diagnostics.
We encourage you to fork this repository and use it as a starting point to build your own dashboard.
After forking, clone transAct locally (replace SUPERBOTS with your github org)
git clone git@github.com:SUPERBOTS/transact.git
Or you can just clone from this repo directly if you're just taking a look
git clone git@github.com:transitiverobotics/transact.git
Your local transAct deployment will interface with a Transitive deployment to find robots and capabilities.
- Go to https://portal.transitiverobotics.com and create an account.
- In your local transAct clone, copy
sample.envfile to.envand edit it:- VITE_TRANSITIVE_USER set this to your Transitive username, created in Step 1.
- JWT_SECRET set this to your JWT secret found on your Security page: https://portal.transitiverobotics.com/security.
- Run
npm installto install all dependencies.
- Run
npm run devto start transAct locally in dev mode. - Navigate to http://localhost:3000/.
- Enjoy!
At first you won't see any robots on your dashboard. This is because you haven't yet added any robots to your Transitive account on transitiverobotics.com. We'll do this next.
Follow the instructions to add robots to your Transitive account. If you just want to see it working quickly you can use our example Docker image. Go to fleet page, down to the end of the Add devices section and you'll find a command you can grab to run a local Docker robot.
Finally add some capabilities to the devices you've added from the fleet page
Once these robots show up in the Transitive Portal, they will also appear in your local transAct deployment.
Edit src/client/config/config.ts to set the Transitive capabilities you have installed on your robots (e.g., webrtc-video) and the props you want to use for them (see the Embed in the Transitive Portal after you've configured a capability).
The code is yours! A good first step is to find and replace "SuperBots" in the entire project with the name of your own company and change the logo. After that you'll probably want to go through the sections in src/client/sections and edit the properties of the embedded Transitive capabilities to fit your needs, e.g., choose the right video sources (cameras, ROS topics, etc.) for webrtc-video and remote-teleop. The easiest way to do this is to go to your Transitive Portal page, open the capability there, configure it, and then get the pre-configured React code from the "Embed" modal.
This project uses ShadCn project for UI components and Tailwind CSS for styling. You have a lot of beautiful components to choose from in the ShadCn collection, you can find instructions on how to use them there, but as an example, if you need a Slider component in your app you just need to:
npx shadcn@latest add slider
Once it's installed (it just gets copied in the client/components/ui folder) you can use it like this:
import { Slider } from "@/components/ui/slider"
...
<div>
<Label htmlFor="password" className="text-xl"> Robot happiness </Label>
<Slider id="robot-happiness" defaultValue={[100]} max={100} step={1} />
</div>Note that the className="text-xl" is from tailwindcss.
Questions? Join our Slack and we'll try to help. For suggestions, please open issues or pull-requests.
SuperBots Logo: Robot icons created by Freepik - Flaticon
ssh -i ~/.ssh/digitalocean root@server_ip
apt update
apt upgrade
apt install npm
apt install nodejs
apt install git
git clone https://github.com/transitiverobotics/transact.git
cd transact
cp sample.env .env
edit variable in .env
npm install
Get domain from companies A; @; yourdomain@example.com; 1800
openssl req -new -newkey rsa:2048 -nodes -keyout yourdomain.key -out yourdomain.csr
Issued from authorities receive though email in zip files
apt install nginx sudo mkdir -p /etc/nginx/ssl sudo chmod 700 /etc/nginx/ssl sudo mv ~/transact/yourdomain.csr /etc/nginx/ssl/ sudo mv ~/transact/yourdomain.key /etc/nginx/ssl/
sudo nano /etc/nginx/ssl/yourdomain.crt paste the content from SSL Certs
EXAMPLE yourdomain.crt
-----BEGIN CERTIFICATE-----
MIIGnjCCBQagAwIBAgIQE4DS0T05At9seriNLcUFVDANBgkqhkiG9w0BAQsFADBg
MQswCQYDVQQGEwJHQjEYMBYGA1UEChMPU2VjdGlnbyBMaW1pdGVkMTcwNQYDVQQD
Ey5TZWN0aWdvIFB1YmxpYyBTZXJ2ZXIgQXV0aGVudGljYXRpb24gQ0EgRFYgUjM2
... [rest of 2535248793.crt]
-----END CERTIFICATE-----
-----BEGIN CERTIFICATE-----
MIIGTDCCBDSgAwIBAgIQOXpmzCdWNi4NqofKbqvjsTANBgkqhkiG9w0BAQwFADBf
MQswCQYDVQQGEwJHQjEYMBYGA1UEChMPU2VjdGlnbyBMaW1pdGVkMTYwNAYDVQQD
Ey1TZWN0aWdvIFB1YmxpYyBTZXJ2ZXIgQXV0aGVudGljYXRpb24gUm9vdCBSNDYw
... [rest of SectigoPublicServerAuthenticationCADVR36.crt]
-----END CERTIFICATE-----
-----BEGIN CERTIFICATE-----
... [rest of SectigoPublicServerAuthenticationRootR46_USERTrust.crt]
-----END CERTIFICATE-----
sudo chmod 600 /etc/nginx/ssl/dragonflyrobotics.*
ls -l /etc/nginx/ssl/
sudo nano /etc/nginx/sites-available/yourdomain
EXAMPLE for yourdomain = dragonflyrobotics
listen 80;
server_name dragonflyrobotics.live www.dragonflyrobotics.live;
return 301 https://$server_name$request_uri; # Redirect HTTP to HTTPS
}
server {
listen 443 ssl;
server_name dragonflyrobotics.live www.dragonflyrobotics.live;
ssl_certificate /etc/nginx/ssl/dragonflyrobotics.crt;
ssl_certificate_key /etc/nginx/ssl/dragonflyrobotics.key;
location / {
proxy_pass http://localhost:3000;
proxy_set_header Host $host;
proxy_set_header X-Real-IP $remote_addr;
proxy_set_header X-Forwarded-For $proxy_add_x_forwarded_for;
proxy_set_header X-Forwarded-Proto $scheme;
}
}
sudo ln -s /etc/nginx/sites-available/dragonflyrobotics /etc/nginx/sites-enabled/
sudo rm /etc/nginx/sites-enabled/default
sudo nginx -t
sudo systemctl restart nginx
sudo ufw allow 80 sudo ufw allow 443 sudo ufw allow 22 (for server) sudo ufw reload sudo ufw status
npm run dev