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Including a component package

To use custom components in AICA applications, the component package must be built and then included in the AICA image workspace. The easiest way to do this is to use a aica-package.toml file.

Creating a aica-package.toml file​

A basic aica-package.toml file for a component package stored in the custom_component_package directory would look roughly like this:

aica-package.toml
#syntax=ghcr.io/aica-technology/package-builder:v1

[build]
type = "ros"
image = "v1.0.0-iron"

[build.dependencies]
"@aica/foss/control-libraries" = "v7.5.0"
"@aica/foss/modulo" = "v4.2.0"

[build.packages.component]
source = "./custom_component_package"

aica-package.toml takes care of installing any dependencies (Python or system libraries) that you require for your component. It is also able to build multiple components together, so you can include all your components in a single package.

See this page for a full reference of the aica-package.toml file and its capabilities.

Building​

You can then build your component using the following command:

docker build -f aica-package.toml -t custom-component .

Launching your custom component​

In AICA Launcher, include the docker image path from the build step as a custom package in the system configuration.

Refer to the installation and launch section for more details.