The innate CLI is your control panel. SSH into MARS and start typing.
in8 is a zsh alias for innate, available in any new shell.
Default (no args)
| Command | What it does |
|---|
innate | Status dashboard — version, mode, ROS/DDS status, quick reference |
Service management
Start, stop, and inspect all ROS nodes.
| Command | What it does |
|---|
innate service start | Start all ROS nodes in tmux |
innate service stop | Kill the tmux session |
innate service restart | Stop + start |
innate service view | Attach to the tmux session |
Top-level shortcuts
| Command | Same as |
|---|
innate view | innate service view |
innate restart | innate service restart |
Build
Smart build that does the right thing automatically. If ROS nodes are running, it stops them, builds, and restarts them. If nodes aren’t running, it just builds. If the build fails, nodes are not restarted.
| Command | What it does |
|---|
innate build | Build full workspace (stops/starts nodes if running) |
innate build pkg1 pkg2 | Build specific packages only |
innate clean | Remove build/, install/, log/ |
Examples
innate build maurice_arm # build one package (restarts nodes if they're running)
innate build # build everything
innate clean && innate build # full clean rebuild
Diagnostics & updates
| Command | What it does |
|---|
innate diag | Hardware check (servos, PCB, lidar, cameras, speaker) |
innate update check [--dev] | Check for available updates |
innate update apply [version] [--dev] | Apply updates (optionally pin a specific version) |
innate update status | Show version + service info |
Quick reference card
innate → status dashboard
innate service start → launch ROS nodes
innate service stop → kill all nodes
innate service restart → stop + start
innate service view → attach to tmux
innate view → shortcut for above
innate restart → shortcut for above
innate build [pkg ...] → build (stops/starts nodes if running)
innate clean → rm build/install/log
innate diag → hardware diagnostics
innate update check [--dev] → check for updates
innate update apply [version] [--dev] → apply updates
innate update status → version + service info
in8 ... → alias for innate
Tmux navigation
When you run innate view, you’re inside a tmux session. Here’s how to move around:
| Keys | Action |
|---|
Ctrl+B then 0–6 | Switch to window 0–6 |
Ctrl+B then ← / → | Switch between left/right panes |
Ctrl+B then [ | Enter scroll mode (navigate with arrow keys) |
q | Exit scroll mode |
Ctrl+B then D | Detach from tmux (nodes keep running) |
