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Development and packaging

This guide contains local development setup, backend commands, and release build instructions. For an end-user launch path, start with Getting started.

Prerequisites

The live backend targets ROS 2 Jazzy and Python 3.12. Use Node.js LTS for the Electron application. rclpy comes from the sourced ROS 2 environment, not from PyPI.

Backend development

cd backend
uv venv --system-site-packages
uv sync
uv run pytest

Start a live backend after sourcing ROS 2:

source /opt/ros/jazzy/setup.bash
uv run ros2-node-map-backend serve

Create one snapshot without the UI:

source /opt/ros/jazzy/setup.bash
uv run ros2-node-map-backend snapshot --pretty

Backend commands

ros2-node-map-backend snapshot [--wait SECONDS] [--pretty]
ros2-node-map-backend serve [--host HOST] [--port PORT]
                            [--interval SECONDS] [--wait SECONDS]
                            [--frontend-dir DIRECTORY]

Defaults are 127.0.0.1:8766, a one-second refresh interval, and a one-second initial ROS discovery wait. --frontend-dir serves built frontend assets from the same HTTP server, used by headless mode.

Frontend development

cd app
npm install
npm run dev

Start the Electron shell during development:

npm run electron:dev

Run the frontend tests and production build:

npm test
npm run build

Release builds

Build both Linux x86-64 and ARM64 AppImages locally with Docker Buildx:

./scripts/build-appimages.sh

To build only one architecture, pass --arch x86_64 or --arch arm64. See Building Linux AppImages locally for prerequisites, output filenames, versioning, and troubleshooting.

Build the Windows portable File-only EXE:

cd app
npm install
npm run dist:win

Windows packages do not include the Python/ROS backend. The portable target uses ZIP compression, which produces a larger EXE than LZMA/7z while reducing launch-time extraction work.

More technical references

Knowledge graph

The repository uses Understand-Anything to generate .ua/knowledge-graph.json, which describes code structure, component relationships, and guided exploration paths. Source code remains the authoritative record; regenerate the graph before relying on it if it may be older than the source.

To view it locally, install Node.js LTS, then run:

npm install --global https://github.com/Egonex-AI/Understand-Anything/releases/latest/download/understand-anything-viewer.tgz
understand-anything-viewer .