Meili CLI

Meili CLI is a command-line utility tool for secret management, system setups, and map synchronisation with the server.

Meili CLI is divided into 5 separate applications, which need to be passed alongside the command as command-line arguments

Download

The first step is to download Meili CLI:

curl  https://meili-fms-production.s3.eu-north-1.amazonaws.com/helpers/meili-cli --output meili-cli
chmod +x meili-cli

wget  https://meili-fms-production.s3.eu-north-1.amazonaws.com/helpers/meili-cli --output meili-cli
chmod +x meili-cli

curl.exe https://meili-fms-production.s3.eu-north-1.amazonaws.com/helpers/meili-cli-win386.exe -o meili-cli.exe

wget https://meili-fms-production.s3.eu-north-1.amazonaws.com/helpers/meili-cli-win386.exe

Invoke-WebRequest -Uri "https://meili-fms-production.s3.eu-north-1.amazonaws.com/helpers/meili-cli-win386.exe" -OutFile "meili-cli.exe"

The commands above download the 386 build. Replace the URL with the one for your platform if needed.

Initialisation

For non ROS integration type–> Before initialize it is important to setup these environmental variables:

export ACCESS_TOKEN=<access_token_value_provided_by_meili>
export PACKAGE_PATH=<path_where_integrations_repository_will_be_downloaded>

set ACCESS_TOKEN=<access_token_value_provided_by_meili>
set PACKAGE_PATH=<path_where_integrations_repository_will_be_downloaded>

$env:ACCESS_TOKEN="<access_token_value_provided_by_meili>"
$env:PACKAGE_PATH="<path_where_integrations_repository_will_be_downloaded>"

Once Meili CLI is downloaded, you can run the system initialisation script. When running this, the fleet setup regenerates tokens and encryption keys and sends unencrypted data back to the CLI.

You need to pass PIN from a newly created fleet setup using the following -pin flag.

./meili-cli init -pin <FLEET_SETUP_PIN>

meili-cli.exe init -pin <FLEET_SETUP_PIN>

.\meili-cli.exe init -pin <FLEET_SETUP_PIN>

FLEET_SETUP_PIN should be a string bound to 5 characters.

./meili-cli init -pin ABC12

A Communication Channel must be created before initializing the system, which will also provide the pin. Check Communication channels.

If the system is set up correctly, you should receive the following message:

System successfully setup

This means that the configuration file — cfg.yaml — has successfully been created in ./meili. For your information, this configuration file is where data regarding your robot fleets, tokens, and public and private keys are stored. An example of this cfg.yaml general structure is shown below:

uuid: afa508a2b3a4e7798450ffad72a4d199
fleet: 97bb047173213605fd36ed8d2b93a8cf3d8fb9f5
mqttId: meili-agent-1112233d-ccde-448c-eee99-dc4e7612659
token: befd0ffc805bc19399f9d7b3bc19399bc19399
publicKey: |-
  -----BEGIN PUBLIC KEY-----
  gkqhkgKCAQEAxHqIIBIjANBnoOCpDQEFABCAQ8AMIIiG9w0BA/HMwqxQanhSAOC8[...]
  -----END PUBLIC KEY-----
privateKey: |-
  -----BEGIN RSA PRIVATE KEY-----
  wgzUYq2P1DsJ6HIdclJEoQIBAAKCAQEAsdtHbrXUMIIY5AzXAPZ22zziV1VA8BDC[...]
  -----END RSA PRIVATE KEY-----
version: 1
timestamp: "2021-07-14T01:00:04.140797Z"

You are now ready to modify the maps using the Meili FMS web application.

If you run the initialisation script again, all the encryption keys and tokens will be regenerated. Therefore, all the data that was encrypted before executing the initialisation script will not be able to be decrypted.

Verification

This script can only produce valid results after running the initialisation process.

After running it, you can verify the system configuration using verification functionality.

./meili-cli verify

meili-cli.exe verify

.\meili-cli.exe verify

If ~/.meili folder does not exist, it will not be able to execute the command.

If everything went successfully, you should receive the following message:

OK

Agent setup

When running the Agent SetUp initialisation script, the repository will be pulled. It will automatically create a file for the previously established vehicles on the fleet setup. To add vehicles to your fleet and create a fleet setup, find detailed instructions here.

The agent will be installed in the path of ROS_PACKAGE_PATH. To check which one is set to your computer run the following command:

echo $ROS_PACKAGE_PATH

If you want the agent to be installed in your own workspace, create it first:

mkdir -p ~/ros_melodic_ws/src
cd ~/ros_melodic_ws/
catkin_make
source devel/setup.bash

user:$ echo $ROS_PACKAGE_PATH
/home/ubuntu/ros_melodic_ws/src:/opt/ros/melodic/share

mkdir -p ~/ros_noetic_ws/src
cd ~/ros_noetic_ws/
catkin_make
source devel/setup.bash

user:$ echo $ROS_PACKAGE_PATH
/home/ubuntu/ros_noetic_ws/src:/opt/ros/noetic/share

Agent setup for fleets

./meili-cli setup

meili-cli.exe setup

.\meili-cli.exe setup

After running this, you should see a meili-agent directory in the ROS_PACKAGE_PATH with config directory inside, and the following output should be produced:

Enumerating objects: 188, done.
Counting objects: 100% (188/188), done.
Compressing objects: 100% (80/80), done.
Total 188 (delta 115), reused 168 (delta 97), pack-reused 0
Repository cloned to /devel/Meili/meilirosinit/meili-agent
commit 695644b50a14ff2e2e806fa4ddb07d702d246416
Author: juan76 <juan@meilirobots.com>
Date:   Thu Jul 02 13:20:14 2020 +0200

    Fixed battery data sent

The config folder will include an automatically generated configuration file where information about the fleet and its vehicles can be found. An example of a configuration file with three robots in the fleet is shown below:

vehicles:
  - uuid: bae59388be704a6e89e5c8a7907b7424
    token: 3916580dc7297fcc5254c8d93c9c5d4e79b32628
    prefix: /robot1
  - uuid: 8b14591a4dbfd8b425ba2fe39f9dfa11
    token: 06305d21094f7663fea4676bd2c2397a69264bee
    prefix: /robot2
  - uuid: fe5fbc57c7c4a896342bd94b55af5e73
    token: 53b3c15e048213bbf7470b9c3e63d838db252dbb
    prefix: /robot3
fleet: e9570c71cd426e16eb5cdedfcc8b1ede9329993c
mqttid: meili-agent-71a705fb-bf62-48bb-8999-c29bbf116f38

Agent setup for individual vehicles

When running the agent individually (one agent per robot) in a fleet, you need to add the flag –split.

./meili-cli setup --split

meili-cli.exe setup --split

.\meili-cli.exe setup --split

It is a generated config file, in the config directory of the Meili Agent (ros ws), with the different robot UUID code appended to the ‘config’ word. An example of a file’s name:

config-24cc7ffd39d3494388e1e8a19697015c.yaml

For the agent to work correctly, it is necessary to remove the UUID from the name, and leave only “config.yaml” (You need to leave this name only for the specific robot you are using)

Installing Meili Agent dependencies

After executing setup command for fleets or for individual vehicles you are ready to finalise the Setting Up of the Agent for ROS Melodic or Noetic. Go to the Meili Agent folder and install the ROS dependencies.

Windows does not support ROS Melodic or Noetic natively. Use WSL or a Linux environment for these commands.

source /opt/ros/melodic/setup.bash
cd ~/ros_melodic_ws
rosdep install --from-paths src --ignore-src --rosdistro melodic -y -r
cd ~/ros_melodic_ws/src/meili-agent/src
pip3 install -r requirements.txt

source /opt/ros/noetic/setup.bash
cd ~/ros_noetic_ws
rosdep install --from-paths src --ignore-src --rosdistro noetic -y -r
cd ~/ros_noetic_ws/src/meili-agent/src
pip3 install -r requirements.txt

Finally, let’s build it and source it:

source /opt/ros/melodic/setup.bash
cd ~/ros_melodic_ws
catkin build # or catkin_make
source devel/setup.bash

source /opt/ros/noetic/setup.bash
cd ~/ros_noetic_ws
catkin build # or catkin_make
source devel/setup.bash

The name of the workspace may vary depending on your previously configured workspace.

You are now ready to start using Meili FMS. Go to Running Meili Agent.

Generating file for Offline use - Pulling schedules

To use Meili Agent with no internet connection, it is necessary to generate a yaml/json file containing the scheduled task, generated from the Meili FMS when marking a mission as offline. By default, it would generate a yaml file containing all the relevant information. File is created in the folder .meili (in your home directory).

./meili-cli pull-schedules

meili-cli.exe pull-schedules

.\meili-cli.exe pull-schedules

There is the possibility of generating a file that follows the smach format. To get this file, it is necessary to mark the format as smach. Check the example below:

./meili-cli pull-schedules --format=smach

meili-cli.exe pull-schedules --format=smach

.\meili-cli.exe pull-schedules --format=smach

Hitting different whitelabel

Use –site to specify the site you want to access. You do not need to enter the full domain, just the prefix for .meilirobots.com

./meili-cli --site=app.dev

meili-cli.exe --site=app.dev

.\meili-cli.exe --site=app.dev

Using command above will hit app.dev.meilirobots.com URL.

Map management

Go to Uploading a map.