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Version: 3.4.0

Deploy the SDK

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To ensure a successful deployment, please follow the instructions in this page step by step.

General installation​

The latest release of the SENSR SDK can be found here.

Prerequisites​

SENSR SDK is based on Websocket and Protobuf (tested version: 3.11.4).

In a terminal, from the /home/ directory, please follow the steps below to install Protobuf 3.11.4:

sudo apt-get install protobuf-compiler libprotobuf-dev
sudo apt-get install autoconf automake libtool curl make g++ unzip
curl -OL https://github.com/protocolbuffers/protobuf/releases/download/v3.11.4/protobuf-cpp-3.11.4.zip
unzip protobuf-cpp-3.11.4.zip
rm protobuf-cpp-3.11.4.zip
cd protobuf-3.11.4
./autogen.sh
./configure CXXFLAGS=-fPIC
make
make check
sudo make install
sudo ldconfig

Once those steps are completed, please jump to the SDK deployment section.

Deploy the SENSR SDK​

The following steps detail how to update the core modules and ensure the right dependencies are installed.

Seoul Robotics recommends installing the SDK at the following location: /home/user/sensr_sdk

Download the SDK from Seoul Robotics Github page:

git clone https://github.com/seoulrobotics/sensr_sdk.git

Update the submodules:

cd sensr_sdk
git submodule update --init --recursive

Install all the listed dependencies:

sudo apt-get install autoconf automake libtool curl make g++ unzip

Now that all modules are ready, language-specific elements can be deployed depending on the language to be used.

Language-specific modules​

Python​

In the SDK folder, jump to the Python folder and run the configuration file:

cd python
./configure.sh

Once those steps are completed the section here provides some usage examples for python.

Javascript​

The following modules are necessary to use SENSR SDK with Javascript:

sudo apt-get update
sudo apt-get install nodejs
sudo apt-get install npm

If ROS is also installed on the machine, issues can occur while installing npm, in that case please run the following commands:

sudo apt-get install curl python-software-properties
curl -sL https://deb.nodesource.com/setup_12.x | sudo -E bash -
sudo apt-get install nodejs

Once those steps are completed the section here provides some usage examples for Javascript.

C++​

Please follow the steps below to build the SDK in C++:

mkdir build
cd build
cmake ..
make
sudo make install

Once those steps are completed the section here provides some usage examples for C++.

Getting started​

Python​

Launch SENSR and run a project. In a terminal, type the following:

python3 console_output.py --address ip_address --example_type data

The arguments are the following:

  • ip_address: ip address of the machine running SENSR (if running on the same machine, please type localhost)
  • data:
    • zone will output data relative to zone events
    • object will output data relative to objects in the scene
    • point will the point result data
    • time will output the system's timestamps
    • health will output data relative to the system's health

Secure communication To run in Secure mode, Launch SENSR with ssl on and use the script console_output_secure.py:

python3 console_output_secure.py --address ip_address --example_type data

Save output to files​

Launch SENSR and run a project. In a terminal, type the following to save data in a file:

python3 save_load_output.py --mode save --address ip_address --dir <folder_path_to_save>

Load output from files​

Open terminal and type the following to load output

python3 save_load_output.py --mode load --dir <folder_path_to_load>

Javascript​

Create your own project​

To use the SENSR SDK in Javascript, you first need to create a project.

Create an empty directory for your project and navigate to it, the location does not matter. To initialize your project run:

mkdir my_project
cd my_project
npm init

Follow the instructions, the defaults should be fine.

Add sensr_js_sdk as dependency. This is added as a local module, hence you need to specify the relative (or absolute) path to sensr_js_sdk.

npm install ../relative/path/to/sensr_sdk/javascript/javascript_sdk

You should now have a main file (by default called index.js) that can be run using npm start or node index.js.

This file is the entry-point into your project.

Basic example​

Launch SENSR in Runtime mode.

Open the terminal then navigate to javascript/console_output folder If you want to run is secure mode, please use javascript/console_output_secure folder instead.

Install dependencies:

npm install

Run the example using the following command command

node console_output.js show -s ip_address -t data

The arguments are the following:

  • ip_address: ip address of the machine running SENSR (if running on the same machine, please type localhost)
  • data:
    • zone will output data relative to zone events
    • object will output data relative to objects in the scene
    • point will the point result data
    • time will output the system's timestamps
    • health will output data relative to the system's health

C++​

Build the sample files​

You can build the two samples separately with their own cmake config, in a terminal,

mkdir build_console
cd build_console
cmake ../samples/console_output
make

Note, you can also run build_console_output.sh from the root source folder.

Run the code​

In a terminal please enter the following

cd
./build_console/console_output_sample ip_address data

console_output_sample takes following arguments:

  • arg[1] : ip address of the machine running SENSR
  • arg[2]-[5] : sample types:
    • zone will output data relative to zone events
    • object will output data relative to objects in the scene
    • point will the point result data
    • time will output the system's timestamps
    • health will output data relative to the system's health

Further modifications​

The sample code can be found in the file main.cpp.

You can use your favorite text editor to change the code and run the steps above again to recompile the console_output_sample project with your changes.

Enable secure Web Socket​

WSS can be used if you need secure output communication. You can enable WSS by passing the certificate key path when you create a Client instance.

sensr::Client client(address, "$HOME/seoulrobotics/keys/sensr-ca.crt");
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