Minot

Minot is a highly versatile toolset for debugging and verifying stateful robot perception software. Some common use cases are:

• Fine-grained rosbag publishing
• Synchronous, deterministic and reproducable testing
• ROS1 -> ROS2 or language migrations
• Functional method evaluations

Visit the Web Documentation or ssh [email protected] to find out more.

We precompile the CLI with coordinator and ROS 2 publisher for our PPA.

curl -fsSL "https://uos-robotics.codeberg.page/ppa/ubuntu/key.gpg" | gpg --dearmor \
  | sudo tee /usr/share/keyrings/uos-archive-keyring.gpg >/dev/null
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/uos-archive-keyring.gpg] https://uos-robotics.codeberg.page/ppa/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/uos.list
sudo apt update

After the setup, you can install the matching package for any of the supported ROS 2 releases. Lyrical, Jazzy, and Humble packages are built for amd64 and arm64.

# humble
sudo apt install ros-humble-minot

# jazzy
sudo apt install ros-jazzy-minot

Alternatively, with the matching ROS environment sourced, the installer can select the corresponding prebuilt release or build it from source:

curl -sSLf https://stelzo.codeberg.page/minot/install | sh -s -- --ros-distro "$ROS_DISTRO"

On Jazzy, and Humble, you'll need to install a more modern Rust compiler first. The recommended script will automatically give you a newer version than 1.85, which is all we need.

The Minot CLI integrates seamlessly with typical ROS tooling. Just clone the repository into the src folder of your ROS workspace.

cd ~/ros2_ws/src
git clone https://codeberg.org/stelzo/minot
cd ..

rosdep install --from-paths src -y --ignore-src

colcon build --packages-select minot
source install/local_setup.bash

Building will take a while.

Now run it like any ROS node.

ros2 run minot minot tui <file.mt>

Building from source will create huge incremental cache artifacts. To save time and space, we recommend the binary installation described in the install documentation.

Install "Minot" from the extension marketplace and place the Minot binary in $PATH. Opening an .mt file enables syntax highlighting and editor actions. Select a few lines and choose Run Selection to start Minot in the background.

More information about the extension can be found at the Marketplace.

Minot comes with support for Tree-sitter syntax highlighting outside of VS Code. See this repository for instructions on how to add Minot support to the Helix editor or use the repository for other editors that support Tree-sitter grammars.