.. _install:
=============
Get started
=============

This guide provides step-by-step instructions to set up the necessary environment for your project, including CUDA, Docker, dependencies, and system execution.

---

Host PC Installation
===================

GPU Driver Installation
------------------------

**Prerequisites:**
- Ubuntu version **20.04 or later** (22.04 recommended)

Steps to Install CUDA Drivers:

1. Add the official graphics drivers repository:

   .. code-block:: bash

       sudo add-apt-repository ppa:graphics-drivers/ppa
       sudo apt update
       reboot

2. After rebooting, open **Software & Updates** → **Additional Drivers** and select the appropriate driver for your GPU.
3. Apply the changes and reboot the system:

   .. code-block:: bash

       reboot


Dependencies Installation
-------------------------

   .. code-block:: bash

       sudo update
       sudo apt install terminator htop  -y 
       sudo apt install python3-dev  python3-venv python-pip -y


Docker  and nvidia docker toolkit Installation
--------------------

https://docs.docker.com/engine/install/ubuntu/


https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html


Add some custom useful alias (Optional)
----------------------------------------

.. code-block:: bash

       # utils
       alias chown_keti='sudo chown -R keti .'
       alias sb='source ~/.bashrc'
       alias eb='sudo gedit ~/.bashrc'
       alias nb='nano ~/.bashrc'
       alias about_pc='lsb_release -a'
       alias create_py_simple_pkg='cookiecutter https://github.com/mtbui2010/python_pkg_simple_template.git'
       alias vscode='sudo code --no-sandbox --user-data-dir ~/.vscode_cache'
       alias run_pyvir='source ~/.pyvir/bin/activate'

       #docker
       alias docker_start='sudo docker start'
       alias docker_stop='sudo docker stop'
       alias docker_run='sudo docker run -it'
       alias docker_watch='sudo watch docker ps -a'
       alias image_watch='sudo watch docker image ls -a'
       alias image_rm='sudo docker image rm'


       #functions
       dockerexec() {
              xhost local: & sudo docker start "$@" & sudo docker exec -it "$@" /bin/bash
       }
       dockerrm() {
              sudo docker stop "$@" && sudo docker rm "$@"
       }
       gitpush() {
              local date_str=$(date +%Y%m%d)
              git add . .gitignore && git commit -m "$date_str - $*" && git push
              }
       rund() {
              local container_name="$1"
              local ros_domain_id="$2"
              shift 2

              # Allow local GUI access
              xhost +local:

              # Start the container
              sudo docker start "$container_name"

              # Execute the command inside the container
              sudo docker exec -it "$container_name" bash -c "
              source ~/.bashrc
              source /opt/ros/humble/setup.bash
              source ~/ros2_ws/install/setup.bash
              export ROS_DOMAIN_ID=$ros_domain_id
              $*"
       }


Install and configure SSH and FTP server (Optional)
--------------------------------------------------

   .. code-block:: bash
       sudo apt install terminator htop openssh-server vsftpd  -y 
       sudo ufw allow ssh
       sudo systemctl start ssh

Configure FTP

   .. code-block:: bash

       #!/bin/bash
       set -e

       FTP_DIR="/media/keti/workdir"
       FTP_USER="keti"

       echo "🛠 Backing up original config..."
       sudo cp /etc/vsftpd.conf /etc/vsftpd.conf.bak

       echo "📝 Writing new vsftpd config..."
       sudo tee /etc/vsftpd.conf > /dev/null <<EOL
       listen=YES
       listen_ipv6=NO
       anonymous_enable=NO
       local_enable=YES
       write_enable=YES
       local_umask=022
       chroot_local_user=YES
       allow_writeable_chroot=YES
       user_sub_token=\$USER
       local_root=${FTP_DIR}
       pasv_enable=YES
       pasv_min_port=10000
       pasv_max_port=10100
       EOL

       echo "📁 Setting permissions for $FTP_DIR..."
       sudo chown -R "$FTP_USER":"$FTP_USER" "$FTP_DIR"
       sudo chmod -R 755 "$FTP_DIR"

       echo "🔁 Restarting vsftpd..."
       sudo systemctl restart vsftpd
       sudo systemctl enable vsftpd

       echo "✅ FTP setup complete. You can now FTP into this machine with your user account."


Test SSH and FTP servers

   .. code-block:: bash

       ssh keti@0.0.0.0
       ftp 0.0.0.0

Servere PC Installation
===================

- Clone the Docker configuration repository:

   .. code-block:: bash

       git clone https://github.com/keti-ai/dockers.git
       cd dockers

- Build container

   .. code-block:: bash
       
       cd dockers
       ./build_recognition_container.sh  --share-dir=<SHARE_DIR>
   
   - `<SHARE_DIR>`: Share directory with source codes [default: None, no sahred folder]



Clone the following repositories to set up the necessary dependencies:

.. code-block:: bash

       git clone https://github.com/keti-ai/pyrecognition.git
       git clone https://github.com/keti-ai/pyconnect.git
       git clone https://github.com/keti-ai/pyinterfaces.git



Install the repositories as editable Python packages:

.. code-block:: bash

       pip install -e pyrecognition
       pip install -e pyconnect
       pip install -e pyinterfaces

Install ssh and sshfs server (optional)

.. code-block:: bash

       sudo apt update
       sudo apt install openssh-server
       sudo systemctl start ssh
       sudo systemctl enable ssh
       sudo apt install sshfs

Edge and Control PCs Container Installation
===================

0. Git credential:

   .. code-block:: bash

       git config --global credential.helper store
       

To set up a Docker containerized environment for your project, follow these steps:

1. Build containers

- Build the Docker image with the required specifications:

   .. code-block:: bash

       ./build_image.sh --ubuntu=<UBUNTU_VERSION> --cuda=<CUDA_VERSION> --ros=<ROS_DISTRO>

   Replace `<UBUNTU_VERSION>`, `<CUDA_VERSION>`, and `<ROS_DISTRO>` with your specific environment settings.

   Support versions:
   
   - Ubuntu20.04, 22.04 (default)

   - CUDA 11.1.1, 11.7.1, 12.1.0, 12.4.1, 12.6.3(default)

   - ROS2: foxy, humble (default)
   

- Create and run a Docker container:

   .. code-block:: bash

       ./build_container.sh --ubuntu=<UBUNTU_VERSION> --cuda=<CUDA_VERSION> --ros=<ROS_DISTRO> --name=<CONTAINER_NAME> --share-dir=<SHARE_DIR>

   - `<CONTAINER_NAME>`: Name of the container [default: name of ubuntu and cuda version , e.g u22cu12]
   - `<SHARE_DIR>`: Share directory with source code [default: None, no sahred folder]

Clone the following repositories to set up the necessary dependencies:

.. code-block:: bash

       git clone https://github.com/keti-ai/carerobotapp.git
       git clone https://github.com/keti-ai/pyconnect.git
       git clone https://github.com/keti-ai/pyinterfaces.git
       git clone https://github.com/keti-ai/pydevice.git


OR mount ssh driver from server PC:

.. code-block:: bash
       
       sudo nano /etc/fstab
       append sshfs#$SERVER_USER@$SERVER_IP:SERVER_DIR $CLIENT_MOUNT_DIR fuse defaults,_netdev,allow_other,IdentityFile=/home/$CLIENT_USER/.ssh/id_rsa 0 0
       save and close
       sudo mount -a



Install the repositories as editable Python packages:

.. code-block:: bash

       pip install -e carerobotapp
       pip install -e pyconnect
       pip install -e pyinterfaces
       pip install -e pydevice

Install ROS Interfaces

- Create a symbolic link to `rosinterfaces` inside the ROS2 workspace:

   .. code-block:: bash
       
       cd ~/ros2_ws/src
       ln -s $ROSINTERFACES_PATH .

- Build the ROS package:

   .. code-block:: bash

       cd ~/ros2_ws
       colcon build --packages-select rosinterfaces



.. _system_exec:

System Execution
===================

Step 1. Edge PC: Run Robot and Device Server
-------------------------------------------

.. code-block:: bash

       robot   # Initializes robot arm, elevator, head, etc.
       femto   # Runs the Femto camera
       hand    # Runs the wrist camera

Step 2. Server PC: Run LLM/VLM Servers
------------------------------------

Ollama Server Execution:

.. code-block:: bash

       sudo docker run -d --gpus=all -v ollama:/root/.ollama -p 11434:11434 --name ollama ollama/ollama
       sudo docker exec -it ollama /bin/bash


VLM Server Execution:

.. code-block:: bash

       python3 -m pyrecognition.run_server server_type=tcp port=8805 detector=groundedsam_grasp,fastsam,groundingdino,audio,mask2grasps,groundedsam,fastsam_grasp

Step 3. Control PC: Run Control Nodes in different Terminal Window
--------------------------------

Terminal 1 — Skill Serve

.. code-block:: bash

       python -m carerobotapp.node_skill_servers


Terminal 2 — Task Manager

.. code-block:: bash

       python3 -m carerobotapp.node_taskmanager

Terminal 3 — WebRTC Server (remote browser control)

.. code-block:: bash

       python -m carerobotapp.node_prompt_webrtc_server
       # Open http://<robot-ip>:<port> in a browser

Terminal 4 - Extra Device Server (wrist camera, optional)

.. code-block:: bash

       python -m carerobotapp.node_extra_device_server

Configuration Files
----------------------

Configurations `carerobotapp.configs` directory.

Make configuration file

.. code-block:: bash

       Copy and Edit configs/robot_10.py -> configs/robot_$ROBOT_DOMAIN_ID.py
       Edit configs/tasks.py: from carerobotapp.configs.robot_10 -> carerobotapp.configs.robot_$ROBOT_DOMAIN_ID

Confirure html

.. code-block:: bash

       Copy and Edit html/text_entries_pangyo.py -> configs/text_entries_$ROBOT_DOMAIN_ID.py
       Edit offerUrl -> https://$ROBOT_IP:8443/offer