Running Meili Agent #

Warning

If you have not installed the Meili Agent, please finish installing the tool by following the detailed instructions listed in Installing Meili Agent

Warning If you do not have a valid area map uploaded to Meili FMS, please follow the instructions in Maps to upload and edit a map before running the Meili Agent.

The following section showcases the use of the Meili Agent in action.

The Meili Agent will look at the automatically generated configuration file on the configdirectory inside the meili-agent package.

Configuration file #

In the cfg.yaml file, you can configure your robot fleet and set topics for all of the vehicles as well as for individual ones if there is more than one type of vehicle on the fleet. This configuration can be modified by the user via Fleet Setup page.

Go to Add Vehicles to your Fleet to add new vehicles to your fleet.

Go to Add Vehicle Topics to configure vehicles to look for specific topics.

Below are some examples of config files:

Example of one vehicle

vehicles:
- uuid: bae59388be704a6e89e5c8a7907b7424
  token: 3916580dc7297fcc5254c8d93c9c5d4e79b32628
  prefix: 
fleet: e9570c71cd426e16eb5cdedfcc8b1ede9329993c
mqttid: meili-agent-71a705fb-bf62-48bb-8999-c29bbf116f38

Example of multiple vehicles

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

Example of vehicle with specific topic

vehicles:
- uuid: "bae59388be704a6e89e5c8a7907b7424"
  topics:
  	location:
  		topic: "/location/topic"
		messageType: "message/type"
fleet:df1d4b9df56fe55fc43e34e16e533d3df050fa82

Default “topics name” and “topic types” have been defined following ROS standards. It is also possible to specify (in the UI or using the API) new topics for each vehicle to override the default one. Go to the Creating a Fleet Setup page.

Note If the same topic is set twice, on an individual vehicle and topics list, the vehicle topic is the one that is taken into consideration.