Modify Innate OS - Innate Docs

Everything on MARS is open source and editable. Agents and skills reload on save, but changes under ~/innate-os/ros2_ws/src/ need a build.

Edit, build, check

innate build mars_arm    # build one package, restarting nodes if they run
innate build             # build everything
innate view              # attach to the node session and check for errors

If a build fails, nodes stay stopped rather than restarting a broken stack. For a clean rebuild, run innate clean && innate build.

Packages

Package	Controls
`brain_client`	The agent loop, and loading agents and skills
`manipulation`	Running trained policies, and the episode recorder
`mars_bringup`	Hardware startup: UART, battery, LEDs
`mars_arm`	Arm driver and kinematics
`mars_nav`	Navigation, SLAM, and mode switching
`mars_cam`	Camera pipeline
`mars_control`	App control and leader-arm teleoperation

Launch files are in each package’s launch/ folder. Parameters you’d want to tune belong in configuration, not in launch files.

The node session

On boot, systemd starts the Zenoh router and then a tmux session called ros_nodes. innate view attaches to it. Each window holds one or two nodes:

Window	Runs
0 `app-bringup`	App control, hardware bringup
1 `arm-recorder`	Arm driver, episode recorder
2 `brain-nav`	Agent loop, navigation
3 `behaviors-inputs`	Policy runner, input manager
4 `cam-leader`	Cameras, leader-arm receiver
5 `ik-logger`	Inverse kinematics, telemetry logger
6 `training-uninavid`	Training client, vision navigation
7 `console-webapp`	Log console, web app server
8 `encoder`	Dataset video encoder

Keys	Action
`Ctrl+B` then a number	Switch window
`Ctrl+B` then arrow keys	Switch pane
`Ctrl+B` then `Z`	Zoom a pane
`Ctrl+B` then `[`	Scroll (`q` to exit)
`Ctrl+B` then `D`	Detach, nodes keep running

Next steps

Inspect topics and services: ROS 2 interfaces
Visualize data: Foxglove
Track down a problem: Debugging