Installation

Prerequisites

• Python 3.12+
• uv (recommended) or pip
• Docker Desktop (for simulation)

Install from source

# Clone the workspace
git clone https://github.com/Defined-Robotics/workspace
cd workspace

# Install all packages in development mode
uv sync

This installs three packages:

• defined-rdf — robot description parser and capability registry
• defined-compiler — verb compiler (YAML to BT XML)
• defined-cli — CLI and TUI for mission control

Verify installation

defined --version
defined-compile --help

Docker (for simulation)

The simulation stack runs in Docker. No ROS2 installation needed on your host.

# From work/defined_platform/
docker compose -f docker/docker-compose.yml up --build

This starts:

• Gazebo Harmonic simulation
• ROS2 Jazzy with Nav2 and SLAM
• Rosbridge WebSocket on port 9090 (CLI control)
• Foxglove WebSocket bridge on port 8765 (visualization)

Visualization (optional)

Install Foxglove Studio to visualize the robot, map, laser scan, and navigation path. Connect to ws://localhost:8765 after starting the simulation.

Foxglove is free, cross-platform, and requires no ROS2 on your host machine.