Cyclo Manager

Cyclo Manager is an integrated control system for the Cyclo ecosystem. Through a web UI you can bring up the robot, use a topic viewer for ROS 2 traffic, manage Docker-backed services, and open noVNC sessions in the browser. A management API, Docker Compose layouts, and a pip-installable CLI (for example cyclo_manager up) support the same workflow on field hardware and developer PCs.

Install

Cyclo Manager runs inside Docker containers. The Python package cyclo-manager on PyPI provides the cyclo_manager CLI, which uses Docker images and Compose to bring up and configure the container stack.

INFO

Cyclo Manager is operated on the AI Worker Orin. So you should install it on the AI Worker Orin.

1. Connect to the AI Worker Orin via SSH.

ssh robotis@ffw-SNPR48A0000.local

2. Install the Python package cyclo-manager on the AI Worker Orin.

pip install cyclo-manager

3. Set up the environment variables and create the containers:

export PATH="$HOME/.local/bin:$PATH"
cyclo_manager up

CLI commands

Use the cyclo_manager CLI from your terminal:

cyclo_manager up   # optional: --pull to fetch the latest images from the registry
cyclo_manager down
cyclo_manager update

• cyclo_manager up :

  • Starts the cyclo_manager (API) and cyclo_manager_ui containers. It also creates the novnc-server and zenoh-daemon containers but does not start them yet (start them later when needed).

• cyclo_manager down :

  • Stops and removes the containers that up created for this stack (same role as docker compose down).

• cyclo_manager update :

  • Runs down, upgrades the CLI with pip install -U cyclo-manager, then runs up again so you are on the latest package and images.

App Page

Open the Cyclo Manager web UI on port 3000 in your browser.

INFO

Connect using the robot IP address or the mDNS hostname.
http://192.168.6.2:3000
http://ffw-SNPR48A0000.local:3000

• Cyclo Manager : Navigates to the Cyclo Manager Home page where you can select the container to manage.
• Physical AI Tools : Navigates to the Physical AI Tools page.

Home Page

• This page shows the containers supported by Cyclo Manager that are running on the system.
• Select the container to manage and navigate to the corresponding page.
• If the source inside the corresponding container is not at the latest version, a notification appears indicating that an update is available.

System Management

Button Descriptions

▶️ : Bring up the robot

⚙️ : Set parameters

📄 : See Logs

▶️ : Run button

📄 : See Logs

• You can bring up the robot and view logs.
• You can run the Physical AI server and view logs.
• You can run the Zenoh daemon container (zenohd).

Log Clear Button Description

Logs are stored in the AI Worker container at /var/log/ai_worker_bringup/current.

You can delete stored logs using the Clear button.

Topic Page

On the Topic page, you can inspect the topic list and each topic’s data.
The Topic list button makes the topic list visible.

INFO

If the topic list is not visible, check that the ROS_DOMAIN_ID matches between the Cyclo Manager container and the AI Worker container.
You can change ROS_DOMAIN_ID in the Cyclo Manager container’s .bashrc. After editing it, restart the Cyclo Manager container.

Docker Page

On the Docker page, you can manage the list of Docker containers running on the PC.
You can start, stop, and restart containers.
Click the Settings button, open the .bashrc section, and you can edit the bashrc file for the container.

INFO

Environment variables in the container are managed in the .bashrc file.

noVNC Page

On the noVNC page, you can use Dynamixel Wizard 2.0 after you start the noVNC container with the controls above.
This lets you diagnose and control motors with the wizard in the browser, without attaching a display or laptop to the AI Worker.