CLI Commands

his guide explains how to use the Ark Command-Line Interface (CLI) for managing and inspecting your robotics network.

🧭 Overview

Use the following command to see available options:

ark --help

Main Commands

• ark registry — Start the registry server

• ark graph — Visualize the network structure

• ark launcher — Launch nodes from a YAML file

• ark node, ark channel, ark service — Inspect the current state of the system

🔍 Inspecting the Network

List active nodes

ark node list

List active channels

ark channel list

List available services

ark service list

Add -v or --verbose to include default/system services.

Show detailed info for a node

ark node -n <node_name>

Use --verbose to include default publishers and services.

🖼️ Graph Visualization

Start the live network visualization:

ark graph start

Save the current graph as an image:

ark graph save output.png

🗄️ Start the Registry

ark registry start --host 127.0.0.1 --port 1234

You can change the host and port to match your network setup.

🚀 Launch Nodes from YAML

ark launcher start path/to/launch.yaml

Ensure the YAML file defines valid nodes and configuration compatible with your environment.