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<title>Welcome to spiri-sdk’s documentation! — spiri-sdk documentation</title>
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spiri-sdk
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<li><a class="reference internal" href="#">Welcome to spiri-sdk’s documentation!</a><ul>
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<li><a class="reference internal" href="#spiri-sdk">Spiri SDK</a><ul>
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<li><a class="reference internal" href="#overview">Overview</a></li>
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<li><a class="reference internal" href="#prerequisites">Prerequisites</a><ul>
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<li><a class="reference internal" href="#ensure-nvidia-drivers-are-working">Ensure nvidia drivers are working</a></li>
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<li><a class="reference internal" href="#installing-docker">Installing Docker</a></li>
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<li><a class="reference internal" href="#installing-copier">Installing Copier</a></li>
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<li><a class="reference internal" href="#installing-vscode">Installing VSCode</a></li>
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<li><a class="reference internal" href="#installing-nvidia-container-toolkit">Installing nvidia-container-toolkit</a></li>
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</ul>
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</li>
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<li><a class="reference internal" href="#quickstart">Quickstart</a><ul>
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<li><a class="reference internal" href="#creating-a-new-project">Creating a new project</a></li>
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<section id="welcome-to-spiri-sdk-s-documentation">
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<h1>Welcome to spiri-sdk’s documentation!<a class="headerlink" href="#welcome-to-spiri-sdk-s-documentation" title="Link to this heading">¶</a></h1>
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<div class="toctree-wrapper compound">
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</div>
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<section id="spiri-sdk">
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<h2>Spiri SDK<a class="headerlink" href="#spiri-sdk" title="Link to this heading">¶</a></h2>
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<section id="overview">
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<h3>Overview<a class="headerlink" href="#overview" title="Link to this heading">¶</a></h3>
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<p>Spiri Robots run a number of docker containers to achieve their core functionality,
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we try to keep these essential docker containers in one docker compose file. The
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docker compose file you’ll find in this repository starts an ardupilot-based UAV simulation
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as well as a ROS master, and mavproxy to tie it together, mirroring the core deployment of
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a spiri robot.</p>
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</section>
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<section id="prerequisites">
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<h3>Prerequisites<a class="headerlink" href="#prerequisites" title="Link to this heading">¶</a></h3>
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<p>This SDK was tested using Ubuntu 22.04 and an Nvidia GPU.</p>
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<p>UI features like 3D worlds (gazebo simulation) were tested with Nvidia GPUs using CDI passthrough.
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Machine-learning features like image recognition are expected to only work with NVIDIA GPUs.</p>
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<p>We use VSCode as the default IDE, and we use Copier to manage project templates.</p>
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<section id="ensure-nvidia-drivers-are-working">
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<h4>Ensure nvidia drivers are working<a class="headerlink" href="#ensure-nvidia-drivers-are-working" title="Link to this heading">¶</a></h4>
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<p>Ensuring nvidia drivers are installed is outside of the scope of
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this document, but you can confirm they working are using the <code class="docutils literal notranslate"><span class="pre">nvidia-smi</span></code> command.
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If the command is present and shows output relevent to your GPU, the drivers are installed.</p>
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<p>You can find the official ubuntu documentation for install nvidia drivers <a class="reference external" href="https://ubuntu.com/server/docs/nvidia-drivers-installation">here</a>.</p>
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<p>You can use the following command to let ubuntu try to install the appropriete drivers automatically:</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>ubuntu-drivers<span class="w"> </span>install<span class="w"> </span>--gpgpu
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</pre></div>
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</div>
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</section>
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<section id="installing-docker">
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<h4>Installing Docker<a class="headerlink" href="#installing-docker" title="Link to this heading">¶</a></h4>
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<p>As per the <a class="reference external" href="https://docs.docker.com/engine/install/">official Docker documentation</a>.</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1">#Uninstall any older docker packages</span>
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<span class="k">for</span><span class="w"> </span>pkg<span class="w"> </span><span class="k">in</span><span class="w"> </span>docker.io<span class="w"> </span>docker-doc<span class="w"> </span>docker-compose<span class="w"> </span>docker-compose-v2<span class="w"> </span>podman-docker<span class="w"> </span>containerd<span class="w"> </span>runc<span class="p">;</span><span class="w"> </span><span class="k">do</span><span class="w"> </span>sudo<span class="w"> </span>apt-get<span class="w"> </span>remove<span class="w"> </span><span class="nv">$pkg</span><span class="p">;</span><span class="w"> </span><span class="k">done</span>
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<span class="c1"># Add Docker's official GPG key:</span>
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sudo<span class="w"> </span>apt-get<span class="w"> </span>update
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sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>ca-certificates<span class="w"> </span>curl
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sudo<span class="w"> </span>install<span class="w"> </span>-m<span class="w"> </span><span class="m">0755</span><span class="w"> </span>-d<span class="w"> </span>/etc/apt/keyrings
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sudo<span class="w"> </span>curl<span class="w"> </span>-fsSL<span class="w"> </span>https://download.docker.com/linux/ubuntu/gpg<span class="w"> </span>-o<span class="w"> </span>/etc/apt/keyrings/docker.asc
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sudo<span class="w"> </span>chmod<span class="w"> </span>a+r<span class="w"> </span>/etc/apt/keyrings/docker.asc
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<span class="c1"># Add the repository to Apt sources:</span>
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<span class="nb">echo</span><span class="w"> </span><span class="se">\</span>
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<span class="w"> </span><span class="s2">"deb [arch=</span><span class="k">$(</span>dpkg<span class="w"> </span>--print-architecture<span class="k">)</span><span class="s2"> signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \</span>
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<span class="s2"> </span><span class="k">$(</span>.<span class="w"> </span>/etc/os-release<span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="s2">"</span><span class="nv">$VERSION_CODENAME</span><span class="s2">"</span><span class="k">)</span><span class="s2"> stable"</span><span class="w"> </span><span class="p">|</span><span class="w"> </span><span class="se">\</span>
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<span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/apt/sources.list.d/docker.list<span class="w"> </span>><span class="w"> </span>/dev/null
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sudo<span class="w"> </span>apt-get<span class="w"> </span>update
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<span class="c1">#Install latest docker</span>
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sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>docker-ce<span class="w"> </span>docker-ce-cli<span class="w"> </span>containerd.io<span class="w"> </span>docker-buildx-plugin<span class="w"> </span>docker-compose-plugin
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<span class="c1">#Allow current user to use docker without sudo</span>
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sudo<span class="w"> </span>groupadd<span class="w"> </span>docker
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sudo<span class="w"> </span>usermod<span class="w"> </span>-aG<span class="w"> </span>docker<span class="w"> </span><span class="nv">$USER</span>
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<span class="c1">#Reload the group</span>
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newgrp<span class="w"> </span>docker
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</pre></div>
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</div>
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</section>
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<section id="installing-copier">
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<h4>Installing Copier<a class="headerlink" href="#installing-copier" title="Link to this heading">¶</a></h4>
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<p>As per the <a class="reference external" href="https://copier.readthedocs.io/en/stable/#installation">official Copier documentation</a></p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>python3<span class="w"> </span>-m<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>--user<span class="w"> </span>pipx
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python3<span class="w"> </span>-m<span class="w"> </span>pipx<span class="w"> </span>ensurepath
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pipx<span class="w"> </span>install<span class="w"> </span>copier
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</pre></div>
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</div>
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</section>
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<section id="installing-vscode">
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<h4>Installing VSCode<a class="headerlink" href="#installing-vscode" title="Link to this heading">¶</a></h4>
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<p>As per the <a class="reference external" href="https://code.visualstudio.com/docs/setup/linux">official VSCode documentation</a></p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>wget<span class="w"> </span>gpg
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wget<span class="w"> </span>https://code.visualstudio.com/sha/download?build<span class="o">=</span>stable<span class="p">&</span><span class="nv">os</span><span class="o">=</span>linux-deb-x64<span class="w"> </span>-O<span class="w"> </span>/tmp/vscode.deb
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sudo<span class="w"> </span>dpkg<span class="w"> </span>-i<span class="w"> </span>/tmp/vscode.deb
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</pre></div>
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</div>
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</section>
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<section id="installing-nvidia-container-toolkit">
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<h4>Installing nvidia-container-toolkit<a class="headerlink" href="#installing-nvidia-container-toolkit" title="Link to this heading">¶</a></h4>
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<p>As per the <a class="reference external" href="https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html">offical nvidia-container-toolkit guide</a>.</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>curl<span class="w"> </span>-fsSL<span class="w"> </span>https://nvidia.github.io/libnvidia-container/gpgkey<span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>gpg<span class="w"> </span>--dearmor<span class="w"> </span>-o<span class="w"> </span>/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg<span class="w"> </span><span class="se">\</span>
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<span class="w"> </span><span class="o">&&</span><span class="w"> </span>curl<span class="w"> </span>-s<span class="w"> </span>-L<span class="w"> </span>https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list<span class="w"> </span><span class="p">|</span><span class="w"> </span><span class="se">\</span>
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<span class="w"> </span>sed<span class="w"> </span><span class="s1">'s#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g'</span><span class="w"> </span><span class="p">|</span><span class="w"> </span><span class="se">\</span>
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<span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/apt/sources.list.d/nvidia-container-toolkit.list
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sudo<span class="w"> </span>apt-get<span class="w"> </span>update
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sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>-y<span class="w"> </span>nvidia-container-toolkit
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sudo<span class="w"> </span>nvidia-ctk<span class="w"> </span>runtime<span class="w"> </span>configure<span class="w"> </span>--runtime<span class="o">=</span>docker
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sudo<span class="w"> </span>nvidia-ctk<span class="w"> </span>cdi<span class="w"> </span>generate<span class="w"> </span>--output<span class="o">=</span>/etc/cdi/nvidia.yaml
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nvidia-ctk<span class="w"> </span>cdi<span class="w"> </span>list
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</pre></div>
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</div>
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</section>
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</section>
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<section id="quickstart">
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<h3>Quickstart<a class="headerlink" href="#quickstart" title="Link to this heading">¶</a></h3>
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<p>To get started you can simply clone this repository and run <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">compose</span> <span class="pre">--profile</span> <span class="pre">uav-sim</span> <span class="pre">up</span></code>.</p>
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<p>Once the simulated UAV is running you can connect to it with QGroundControl or other
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MavLink compatible software. We expose the UAVs Mavlink conenction on tcp port 5760.</p>
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<p>There is experimental GUI support you can enable by running <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">compose</span> <span class="pre">--profile</span> <span class="pre">uav-sim</span> <span class="pre">--profile</span> <span class="pre">ui</span> <span class="pre">up</span></code>.</p>
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<section id="creating-a-new-project">
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<h4>Creating a new project<a class="headerlink" href="#creating-a-new-project" title="Link to this heading">¶</a></h4>
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<p>We provide project templates you can use for development that integrate seamlessly into
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our simulated robots.</p>
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<p>These templates are intended to be used with VSCode.</p>
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<p>To get started with our project templates install the <a class="reference external" href="https://copier.readthedocs.io/en/stable/">copier</a> project
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templating utility.</p>
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<ul class="simple">
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<li><p><a class="reference external" href="https://git.spirirobotics.com/Spiri/template-service-ros1-catkin">template-service-ros1-catkin</a></p></li>
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</ul>
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<p>This template uses the last stable release of ROS1 (ros noetic) and supports python and c++ programming
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languages.</p>
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<p>ROS1 is considered end of life. It’s recomended to use a ROS2 template instead</p>
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<ul class="simple">
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<li><p>ROS2 template</p></li>
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</ul>
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<p>We’re working on it…</p>
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</section>
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</section>
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</section>
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</section>
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<section id="indices-and-tables">
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<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Link to this heading">¶</a></h1>
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<ul class="simple">
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<li><p><a class="reference internal" href="genindex.html"><span class="std std-ref">Index</span></a></p></li>
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<li><p><a class="reference internal" href="py-modindex.html"><span class="std std-ref">Module Index</span></a></p></li>
|
||
<li><p><a class="reference internal" href="search.html"><span class="std std-ref">Search Page</span></a></p></li>
|
||
</ul>
|
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</section>
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|
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</div>
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<footer>
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<hr/>
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<div role="contentinfo">
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<p>© Copyright 2024, Spiri Robotics.</p>
|
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