# InOrbit Python Edge SDK
| OS | Python 3.8 | Python 3.9 | Python 3.10 | Python 3.11 | Python 3.12 |
|:-------------------------------------------:|:---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------:|:---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------:|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------:|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------:|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| Linux | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_LinuxPython38QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_LinuxPython39QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_LinuxPython310QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_LinuxPython311QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_LinuxPython312QualityCheck?branch=%3Cdefault%3E&mode=builds) |
| Mac | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_MacPython38QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_MacPython39QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_MacPython310QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_MacPython311QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_MacPython312QualityCheck?branch=%3Cdefault%3E&mode=builds) |
| Windows | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_WindowsPython38QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_WindowsPython39QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_WindowsPython310QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_WindowsPython311QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_WindowsPython312QualityCheck?branch=%3Cdefault%3E&mode=builds) |
| [Qodana](https://www.jetbrains.com/qodana/) | -- | -- | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_QodanaLinuxQualityRunner?branch=%3Cdefault%3E&mode=builds) | -- | |
The `InOrbit Edge SDK` allows Python programs to communicate with `InOrbit`
platform on behalf of robots - providing robot data and handling robot actions.
Its goal is to ease the integration between `InOrbit` and any other software
that handles robot data.
---
## Features
- Robot session handling through a `RobotSessionPool`.
- Publish key-values.
- Publish robot poses.
- Publish robot odometry.
- Publish robot path.
- Publish robot laser.
- Execute callbacks on Custom Action execution.
- Execute scripts (or any program) in response to Custom Action execution.
## Quick Start
```python
from inorbit_edge.robot import RobotSessionFactory, RobotSessionPool
def my_command_handler(robot_id, command_name, args, options):
"""Callback for processing custom command calls.
Args:
robot_id (str): InOrbit robot ID
command_name (str): InOrbit command e.g. 'customCommand'
args (list): Command arguments
options (dict): object that includes
- `result_function` can be called to report command execution
result with the following signature: `result_function(return_code)`
- `progress_function` can be used to report command output with
the following signature: `progress_function(output, error)`
- `metadata` is reserved for the future and will contain additional
information about the received command request.
"""
if command_name == "customCommand":
print(f"Received '{command_name}' for robot '{robot_id}'!. {args}")
# Return '0' for success
options["result_function"]("0")
robot_session_factory = RobotSessionFactory(
api_key="<YOUR_API_KEY>"
)
# Register commands handlers. Note that all handlers are invoked.
robot_session_factory.register_command_callback(my_command_handler)
robot_session_factory.register_commands_path("./user_scripts", r".*\.sh")
robot_session_pool = RobotSessionPool(robot_session_factory)
robot_session = robot_session_pool.get_session(
robot_id="my_robot_id_123", robot_name="Python SDK Quick Start Robot"
)
robot_session.publish_pose(x=0.0, y=0.0, yaw=0.0)
```
## Installation
**Stable Release:** `pip install inorbit-edge`<br>
**Development Head:
** `pip install git+https://github.com/inorbit-ai/edge-sdk-python.git`
## Documentation
For full package documentation please
visit [InOrbit Developer Portal](https://developer.inorbit.ai/docs?hsLang=en#edge-sdk).
## Development
See [CONTRIBUTING.md](CONTRIBUTING.md) for information related to developing
the code.
## The Three Commands You Need To Know
1. `pip install -e .[dev]`
This will install your package in editable mode with all the required
development dependencies (i.e. `tox`).
2. `make build`
This will run `tox` which will run all your tests in Python 3.8 - 3.11 as
well as linting your code.
3. `make clean`
This will clean up various Python and build generated files so that you can
ensure that you are working in a clean environment.
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"description": "# InOrbit Python Edge SDK\n\n| OS | Python 3.8 | Python 3.9 | Python 3.10 | Python 3.11 | Python 3.12 |\n|:-------------------------------------------:|:---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------:|:---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------:|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------:|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------:|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|\n| Linux | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_LinuxPython38QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_LinuxPython39QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_LinuxPython310QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_LinuxPython311QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_LinuxPython312QualityCheck?branch=%3Cdefault%3E&mode=builds) |\n| Mac | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_MacPython38QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_MacPython39QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_MacPython310QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_MacPython311QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_MacPython312QualityCheck?branch=%3Cdefault%3E&mode=builds) |\n| Windows | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_WindowsPython38QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_WindowsPython39QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_WindowsPython310QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_WindowsPython311QualityCheck?branch=%3Cdefault%3E&mode=builds) | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_WindowsPython312QualityCheck?branch=%3Cdefault%3E&mode=builds) |\n| [Qodana](https://www.jetbrains.com/qodana/) | -- | -- | [](https://inorbit.teamcity.com/buildConfiguration/Engineering_Development_DeveloperPortal_EdgeSdkPython_QodanaLinuxQualityRunner?branch=%3Cdefault%3E&mode=builds) | -- | |\n\nThe `InOrbit Edge SDK` allows Python programs to communicate with `InOrbit`\nplatform on behalf of robots - providing robot data and handling robot actions.\nIts goal is to ease the integration between `InOrbit` and any other software\nthat handles robot data.\n\n---\n\n## Features\n\n- Robot session handling through a `RobotSessionPool`.\n- Publish key-values.\n- Publish robot poses.\n- Publish robot odometry.\n- Publish robot path.\n- Publish robot laser.\n- Execute callbacks on Custom Action execution.\n- Execute scripts (or any program) in response to Custom Action execution.\n\n## Quick Start\n\n```python\nfrom inorbit_edge.robot import RobotSessionFactory, RobotSessionPool\n\n\ndef my_command_handler(robot_id, command_name, args, options):\n \"\"\"Callback for processing custom command calls.\n\n Args:\n robot_id (str): InOrbit robot ID\n command_name (str): InOrbit command e.g. 'customCommand'\n args (list): Command arguments\n options (dict): object that includes\n - `result_function` can be called to report command execution\n result with the following signature: `result_function(return_code)`\n - `progress_function` can be used to report command output with\n the following signature: `progress_function(output, error)`\n - `metadata` is reserved for the future and will contain additional\n information about the received command request.\n \"\"\"\n if command_name == \"customCommand\":\n print(f\"Received '{command_name}' for robot '{robot_id}'!. {args}\")\n # Return '0' for success\n options[\"result_function\"](\"0\")\n\n\nrobot_session_factory = RobotSessionFactory(\n api_key=\"<YOUR_API_KEY>\"\n)\n\n# Register commands handlers. Note that all handlers are invoked.\nrobot_session_factory.register_command_callback(my_command_handler)\nrobot_session_factory.register_commands_path(\"./user_scripts\", r\".*\\.sh\")\n\nrobot_session_pool = RobotSessionPool(robot_session_factory)\n\nrobot_session = robot_session_pool.get_session(\n robot_id=\"my_robot_id_123\", robot_name=\"Python SDK Quick Start Robot\"\n)\n\nrobot_session.publish_pose(x=0.0, y=0.0, yaw=0.0)\n```\n\n## Installation\n\n**Stable Release:** `pip install inorbit-edge`<br>\n**Development Head:\n** `pip install git+https://github.com/inorbit-ai/edge-sdk-python.git`\n\n## Documentation\n\nFor full package documentation please\nvisit [InOrbit Developer Portal](https://developer.inorbit.ai/docs?hsLang=en#edge-sdk).\n\n## Development\n\nSee [CONTRIBUTING.md](CONTRIBUTING.md) for information related to developing\nthe code.\n\n## The Three Commands You Need To Know\n\n1. `pip install -e .[dev]`\n\n This will install your package in editable mode with all the required\n development dependencies (i.e. `tox`).\n\n2. `make build`\n\n This will run `tox` which will run all your tests in Python 3.8 - 3.11 as\n well as linting your code.\n\n3. `make clean`\n\n This will clean up various Python and build generated files so that you can\n ensure that you are working in a clean environment.\n",
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