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cloudslam wrapper module

This module implements the rdk:service:slam API in a cloudslam-wrapper model. With this model, you can start, view, and stop cloudslam mapping sessions by using the DoCommands defined within the module, as well as upload a locally built SLAM map to the registry. Currently, only Cartographer is supported for cloudslam, but all SLAM services can use the local map upload feature.

Configure your cloudslam-wrapper

Navigate to the CONFIGURE tab of your machine in the Viam app. Add cloudslam-wrapper to your machine.

On the new service panel, copy and paste the following attribute template into your SLAM’s attributes field:

{
   "slam_service": "<slam-service-name>",
   "api_key": "<location-api-key>",
   "api_key_id": "<location-api-key-id>",
   "organization_id": "<organization_id>",
   "location_id": "<location_id>",
   "machine_id": "<machine_id>",
}

In addition, in your Cartographer config the setting "use_cloud_slam" must be set to true. This only applies when trying to use cloudslam. Uploading a locally built map does not require this setting.

Attributes

The following attributes are available for viam:cloudslam-wrapper:cloudslam

Name Type Required? Description
slam_service string Required Name of the SLAM Service on the machine to use with cloudslam
api_key string Required location owner API key needed to use cloudslam apis
api_key_id string Required location owner API key id
organization_id string Required id string for your organization
location_id string Required id string for your location
machine_id string Required id string for your machine
machine_part_id string Optional optional id string for the machine part. Used for local package creation and updating mode
viam_version string Optional optional string to identify which version of viam-server to use with cloudslam. Defaults to stable
slam_version string Optional optional string to identify which version of cartographer to use with cloudslam. Defaults to stable
camera_freq_hz float Optional set the expected capture frequency for your camera/lidar components. Defaults to 5
movement_sensor_freq_hz float Optional set the expected capture frequency for your movement sensor components. Defaults to 20

Example configuration

{
  "slam_service": "my-actual-slam-service",
   "api_key": "location-api-key",
   "api_key_id": "location-api-key-id",
   "organization_id": "organization_id",
   "location_id": "location_id",
   "machine_id": "machine_id",
   "machine_part_id": "machine_part_id", 
   "camera_freq_hz": 5.0,
   "movement_sensor_freq_hz": 20.0, 
   "slam_version": "stable", 
   "viam_version": "stable", 
}

Next steps - Using the cloudslam service

To interact with a cloudslam mapping session, go to the DoCommand on the Control tab and select your cloudslam wrapper service from the dropdown. From here, you can use the following commands

  • {"start": "<MAP_NAME>"} will start a cloudslam mapping session using the configured SLAM service. If the request is successful the current map will appear in the cloudslam-wrapper's service card after ~1 minute
  • {"stop": ""} will stop an active cloudslam mapping session if one is running. The completed map can be found on the SLAM library tab of the machines page
  • {"save-local-map": "<MAP_NAME>"} will grab the current map from the configured SLAM service and upload it to your location, in the SLAM library tab of the machines page

For updating a map using cloudslam, a machine_part_id must be configured. When configured, the module will check the machine's config to see if any slam maps are configured on the robot. If a slam map is found, cloudslam will be configured for updating mode and the map name will be inherited from the configured map.