Vizyr

Welcome to the documentation of Vizyr. Vizyr is an application that manages the entire flow automation process with mobile robots. Vizyr allows you to deploy robots, define what the robots should do and how your the users will interact with the robots.

The documentation is divided into section that cover all the aspect of Vizyr. To understand how Vizyr works as quickly and effectively as possible we encourage you to start with the getting started section.

Getting started

The first section of the documentation will get us starting with the application. First, we will discover the different concept defined by Vizyr. Then, we will create a simple configuration to control and monitor a robot.

Concepts

Robot

A robot in Vizyr is a mobile robot. It is a machine that can be moved within your factory or warehouse. Vizyr is compatible with several robot brands. We can mention MiR robots or all ROS compatible robots (Robot Operating System). A robot is be able to receive orders and you can follow all its activities on Vizyr.

home

Blueprint

A blueprint is a map of your warehouse or factory. It can be a map from a mapping done by a robot or an architect's plan. A blueprint represents a site and must include the entire area where you want to use the robots. Only one blueprint can be active at any given time.

home

Map

A map is a set of traffic rules that will allow robots to move around your premises. There are different types of roads. Only one map can be active at a time.

home

Mission

A mission defines what a robot must do. A mission is a series of actions and conditions. Actions allow robots to do things: go to a point, send a web request. The conditions allow robots to choose.

home

Location

A location is a point of interest in the map. It can be several types of point:

  • A point to which the robot must go on a mission.
  • A point to which the robot must go to recharge its batteries.

Simple configuration

Connect to a robot

First we need to connect to a robot. To do so we weed to go to the robot screen and click on the [+] button.

click_plus

We will arrive to a form with different fields to fill to create our robot. Choose a name for the robot and select the model. Depending of the model we will have more information about to the robot to fill like IP address, username, password...

new_form

Click on the create button.

new_form_click_create

We will arrive to a page with information about the robot.

profil

Import a blueprint

First we need to add a blueprint to Vizyr. There are two ways to do this.

  • We can import a blueprint from our computer, see how to create a blueprint.
  • We can import a blueprint directly from the robot.

For the getting started we are going to use the second method. Go to the blueprint screen in the robot.

goto_blueprint

We will see a blueprint available in the robot.

Warning: If instead of a blueprint there is an error message, go to the section how to create a blueprint to import a blueprint from our computer.

blueprint

We will click on the create blueprint button in the action bar on top to import the blueprint into Vizyr.

create_blueprint

This will create a new blueprint and redirect us to the editor.

imported_from_robot

Create a map

Next step, we need to add some rules of how our robots will circulate in the environnement. Click on the create map button in the action bar on top to create a new map.

create_map

This will redirect us to the map screen.

editor

We will choose the free area in the tool bar on the left

free_area

We will draw a free area above all the map to start. And click on the save button on the action bar on the top.

editor_with_area

Create a target location

Next thing we need to create a location. A location is a point where the robot will be able to go. Click on the location button in the tool bar on the left.

location_tool

With the mouse pointer select where the location is going to be and click. This will add point to the map.

location

By default when we create a new location we also create a new mission that is simply go to this location.

Select the map

Only one map can be selected at a time. First, we need to go to settings.

settings

In the Select map section click on the button.

select_map

The button will change color and the map will be selected.

map_selected

Add mission to queue

Click on Back to main to return to the application home and click on the Tasks menu.

tasks

Click on the play button on the mission on left.

play

This will add a mission in the mission queue waiting.

waiting_task

After a while, the robot will take to mission.

running_task

When the mission is preempt we will click on the map button.

goto_live_map

In this screen we can follow the robot, where is it and where it is going. To have more information about this screen go take a look there.

live_map

Doing more

This was a simple example of how to configure Vizyr to send mission to one robot. In the rest of this documentation we will see further features on robots, blueprints, maps, missions and how to take further Vizyr when the system is running.

Robots

Vizyr has been designed to support multiple robots from different manufacturer within one application. The application is made to monitor and control mobile robot or also called AGV. These robots usually have wheels and are able to move autonomously in factories or warehouses.

Vizyr is currently compatible with all robots running on ROS (Robot Operating System) and the robots of the manufacturer MiR. The configuration or the features available for each robot on Vizyr can vary from one model to another, depending on the level of integration of the robot in the application. Specific documentation will be provided for each robot or manufacturer.

home

How to connect to a robot

To connect to a robot, first we need to go to the home of the application and click on the robot item in the menu on the left.

home

The list of the current robots will be showed if robots as already been added. To add a robot click on the [+] button.

click_plus

We will arrive to a form with different fields to fill to create our robot. Choose a name for the robot and select the model. Depending on the model we will have more information about to the robot to fill like IP address, username, password...

new_form

Click on the Create button.

new_form_click_create

We will arrive to a page with information about the robot.

profil

How to update a robot

To update a robot, first we need to go to the home of the application and click on the robot item in the menu on the left. To access a robot we will click on the robot we want to modify.

home_MyRobot

We need to click on the settings item on the left menu.

goto_settings

All the field that can be modified will be available in this screen.

settings

How to disconnect from a robot

To disconnect from a robot, first we need to go to the home of the application and click on the robot item in the menu on the left. To access a robot we will click on the robot we want to disconnect from.

home_MyRobot

We need to click on the settings item on the left menu.

goto_settings

We can use the section disconnect to forget all the information about the robot.

delete

Blueprints

Blueprints are 2D maps of the site where robots are deployed. A blueprint can be imported from a computer or directly from a robot.

home

How to create a blueprint

There are two ways of creating a blueprint.

Import the blueprint from a computer

We are going to click on the blueprint menu when we are at the home of the application.

home_MyRobotBlueprint

We are going to click on the [+] button.

click_plus

We will arrive to a page with a form, with a field for the name of the blueprint and another one to import the map from the computer. We will click on Browse, a dialog window will open to let us select the file.

new_form_browse

After we have chosen the file we want we will click on Create. This will open the newly created blueprint.

new_form_create

Import the blueprint from the robot

Click on the robot you want to import the _blueprint from.

home_MyRobot

Go to the blueprint screen in the robot.

goto_blueprint

We will see a blueprint available in the robot.

Warning: If instead of a blueprint there is an error message, go to the section how to create a blueprint to import a blueprint from our computer.

blueprint

We will click on the Create blueprint button in the action bar on top to import the blueprint into Vizyr.

create_blueprint

This will redirect us to the blueprint screen.

imported_from_robot

How to update a blueprint

We are going to click on the blueprint menu when we are at the home of the application.

home_MyRobotBlueprint

We are going to click on the blueprint we want to update.

click_item

When we are on the blueprint screen we will click on settings in the left menu.

editor_goto_settings

In settings there is all the settings we can update for a blueprint.

settings

How to create a location

A location is a point where the robot will be able to go. We can create location in blueprint editor or map editor. For this example we will use the blueprint editor, but the interface to add location do not change from one editor to another.

First, we are going to click on the blueprint menu when we are at the home of the application.

home_MyRobotBlueprint

We are going to click on the blueprint we want to add location.

click_item

We will directly arrive to the editor.

editor

Click on the location button in the tool bar on the left.

location_tool

With the mouse pointer select where the location is going to be and click. This will add a point to the map.

location

By default, when we create a new location we also create a new mission that is simply go to this location.

How to delete a blueprint

We are going to click on the blueprint menu when we are at the home of the application.

home_MyRobotBlueprint

We are going to click on the blueprint we want to delete.

click_item

When we are on the blueprint screen we will click on settings in the left menu.

editor_goto_settings

At the end of the page of the settings page there is a delete form. To delete the blueprint we will click on the Remove blueprint button.

Warning: deleting a blueprint will delete all the resources linked to this blueprint (locations, maps, missions).

settings_delete

Maps

A map is a set of traffic rules that will allow robots to move around your premises. There are different types of roads. Only one map can be active at a time.

robot

How to create a map

We are going to click on the map menu when we are at the home of the application.

home_MyRobotBlueprintMap

We are going to click on the [+] button.

map_click_plus

We will arrive to a page with a form with a field for the name of the map and another one to choose the blueprint.

new_form

Click on the Create button.

map_new_form_click_create

We will arrive to a page with information about the robot.

editor_MyNewMap

How to manage routes

We are going to click on the map menu when we are at the home of the application.

home_MyRobotBlueprintMap

We are going to click on the map we want to delete.

click_item

In the editor screen we can add, delete and update routes. Routes are information above a blueprint that indicates where the robots can go. To create new routes use the tools in the tool bar on the left.

routes_tools

Type of routes

There are different types of routes: no direction areas, one-way road and forbidden areas.

Free

Robots will be free to move in those areas.

editor_free

One-way road

Robots will only be able to move in those areas following the arrows.

editor_road

Forbidden

Robots will not be able to go to those areas.

editor_forbidden

Updating routes

Resizing

We can use the anchors around the shape when we select it to resize the shape.

editor_resizing

Rotating

We can use the rotation anchor to rotate it.

editor_rotating

Fast action

When we click on a shape a menu with icons will appear in the right, it is a fast action bar. The different action available are delete, rotate left, rotate right and duplicate.

editor_fast

How to select a map

We are going to click on the map menu when we are at the home of the application.

home_MyRobotBlueprintMap

We are going to click on the map we want to select.

click_item

When we are on the map screen we will click on settings in the left menu.

editor_MyRobotBlueprintMap

In the Select map section click on the button.

select_map

The button will change color and the map will be selected.

map_selected

When a map is selected it will appear in green in the list.

home_selected

How to delete a map

We are going to click on the map menu when we are at the home of the application.

home_MyRobotBlueprintMap

We are going to click on the map we want to delete.

click_item

When we are on the map screen we will click on settings in the left menu.

editor_MyRobotBlueprintMap

At the end of the page of the settings page there is a delete form. To delete the map we will click on the Delete button.

delete

Missions

A mission defines what a robot must do. A mission is a series of actions and conditions. Actions allow robots to do things: go to a point, send a web request. The conditions allow robots to choose.

home

How to create a mission

Create mission by creating a location

The simplest way to create mission is to create a location. By default, when you create a location it will also create a mission that simple state go to that location. To discover how to define a location when can checkout this part of the documentation.

How to delete a map

We can delete a mission like any other resources created in Vizyr. We are going to click on the mission menu when we are at the home of the application.

robot

We are going to click on the mission we want to delete.

robot

At the end of the page of the settings page there is a delete form. To delete the mission we will click on the Delete button.

robot

Running system

Vizyr state that the system is always running. There is not an on/off switch. Therefore, any update we will do in Vizyr will affect all the robot lively.

To affect mission to the robot we can add mission to mission queues. To have more info about that we can checkout here

We can also monitor the system entirely.

How to execute mission

Mission queues are lists of mission that should be done by the robots. To add mission to the queue different mechanisms are available.

Click on the Tasks menu.

tasks

Click on the play button on the mission on left.

play

This will add a mission in the mission queue waiting.

waiting_task

After a while, the robot will take to mission.

running_task

How to monitor the full system

We can have a global vision of the system by clicking on the live map in the left menu. In this screen we have all the information about the current running system. The robots will be displayed into the map. We can click on them to have more information. On the menu that will be displayed on the right we can click on the robot to go to the monitor robot part. To have more information about this section we can take a look here When the mission is preempted we will click on the map button.

live_map

API

Vizyr is built around an http API. You can use the user interface to configure and use Vizyr daily, but you can also interact with the system directly by using the API. You can find the full documentation of the API at api.vizyr.io.