scry

<div align="center"> <img src=".github/assets/scry-banner.svg" alt="Scry, AI for ROS 2 robots" width="100%"> # Scry **Your ROS 2 robot, in your pocket.** Debug, monitor, and talk to any ROS 2 system from your Android phone, through an on-device AI assistant. [](https://github.com/phaneron-robotics/scry-app/releases) [](https://pypi.org/project/scry-connect/) [](https://github.com/phaneron-robotics/scry-app/actions/workflows/ci.yml) [](https://github.com/phaneron-robotics/scry-connect/actions/workflows/ci.yml) [](https://phaneron-robotics.github.io/scry/get-started/install-connect/) [](#license) [**Docs**](https://phaneron-robotics.github.io/scry/) · [**Quick start**](#quick-start) · [**How it works**](#how-it-works) · [**Demos**](#demos) <a href="https://play.google.com/store/apps/details?id=com.phaneronrobotics.scry"><img src="https://play.google.com/intl/en_us/badges/static/images/badges/en_badge_web_generic.png" alt="Get it on Google Play" height="56"></a> </div> --- ## What is Scry? Debugging a ROS 2 robot usually means crouching at a laptop with `rviz`, `rqt`, and a wall of `ros2 topic echo` terminals. That's fine at your desk, but painful when you're walking beside the robot, demoing it, or out in the field. **Scry puts that whole workflow in your pocket:** you ask a question in plain English, like *"why isn't `/cmd_vel` publishing?"*, and an on-device AI assistant inspects your robot's topics, nodes, services, parameters, and diagnostics live over your own network, then answers with structured panels, plots, and one-tap actions. No cloud backend, no telemetry. Your AI key, your robot, your network. --- ## Demos Short walkthroughs of Scry in action. Click any thumbnail to watch on YouTube, or browse the [full playlist](https://www.youtube.com/playlist?list=PLyorFDAYdKhSwHnjT1jQQy-Y-6_6wA7Kq). ### AI chat & debugging | Debugging logs | Multi-step planning | Manual approvals | |---|---|---| | [<img src="https://img.youtube.com/vi/iM--2T5NY4A/hqdefault.jpg" width="260">](https://youtu.be/iM--2T5NY4A) | [<img src="https://img.youtube.com/vi/URhuoBcetH8/hqdefault.jpg" width="260">](https://youtu.be/URhuoBcetH8) | [<img src="https://img.youtube.com/vi/Vc45jC7-fRA/hqdefault.jpg" width="260">](https://youtu.be/Vc45jC7-fRA) | | Ask about your robot's logs in plain English. | Watch the AI build and follow a plan. | The AI proposes, you approve each write. | | Chat walkthrough | Parameters by chat | Camera feed in chat | |---|---|---| | [<img src="https://img.youtube.com/vi/V2PRj4fiPBo/hqdefault.jpg" width="260">](https://youtu.be/V2PRj4fiPBo) | [<img src="https://img.youtube.com/vi/zIMt096yqfY/hqdefault.jpg" width="260">](https://youtu.be/zIMt096yqfY) | [<img src="https://img.youtube.com/vi/ltE9LzJ3rTM/hqdefault.jpg" width="260">](https://youtu.be/ltE9LzJ3rTM) | | Debug a robot end to end through chat. | Read and set ROS 2 parameters by asking. | Bring a live camera feed into the chat. | ### Browse ROS 2 entities | Browse every ROS 2 entity | |---| | [<img src="https://img.youtube.com/vi/hjJ-Rxm-khI/hqdefault.jpg" width="260">](https://youtu.be/hjJ-Rxm-khI) | | Topics, nodes, services, actions, lifecycle, params, TF, logs — searchable, one tap to detail. | ### Live visualizations | Camera, LiDAR, plots & 3D scene | |---| | [<img src="https://img.youtube.com/vi/dGKybk0HN8E/hqdefault.jpg" width="260">](https://youtu.be/dGKybk0HN8E) | | Sensor streams render live on a dedicated Viz surface. | ### Robot dashboard & fleet | Robot dashboard + chat | Multi-robot fleet view | |---|---| | [<img src="https://img.youtube.com/vi/Xv22xBuKhKA/hqdefault.jpg" width="260">](https://youtu.be/Xv22xBuKhKA) | [<img src="https://img.youtube.com/vi/IS0pWNuMoMY/hqdefault.jpg" width="260">](https://youtu.be/IS0pWNuMoMY) | | An honest, at-a-glance health view, paired with chat. | Switch between robots or diagnose the whole fleet. | --- ## How it works ```mermaid flowchart LR User(["You\ntext · voice · image"]) subgraph Phone["Scry app, Android"] AI["AI assistant\n+ MCP routing\n+ rich rendering"] end subgraph Robot["Your robot"] Connect["scry-connect\nMCP server"] ROS["ROS 2 graph\nany DDS / RMW"] end Cloud(["AI provider\nOpenRouter · Ollama"]) User <--> AI AI <-->|"your Wi-Fi"| Connect Connect <-->|"rclpy"| ROS AI <-.->|"BYO key · or fully local"| Cloud classDef brand fill:#292826,stroke:#A3B86C,stroke-width:1px,color:#E8E4D9 class Phone,Robot,AI,Connect,ROS brand ``` The **phone is the thick client**. It runs the AI loop, routes tool calls, renders the results, keeps your background monitors running, and manages your fleet. The **robot just runs `scry-connect`**, a small Python MCP server that exposes its ROS 2 graph as **119 AI-callable tools**. Reads are free; anything that changes the robot asks for your approval first. Because cloud AI APIs can't reach your private Wi-Fi, the phone proxies every tool call between the AI and the robot, so nothing routes through a Scry server. --- ## Quick start About fifteen minutes, end to end. Full walkthrough in the [**Get started guide**](https://phaneron-robotics.github.io/scry/get-started/). ### 1. Get the app <a href="https://play.google.com/store/apps/details?id=com.phaneronrobotics.scry">Get Scry on Google Play →</a> ### 2. Install `scry-connect` on the robot **pip** (simplest): ```bash pip install scry-connect source /opt/ros/$ROS_DISTRO/setup.bash scry-connect ``` **Docker** (no Python setup, multi-arch, works on Jetson / Pi): ```bash docker run --rm --network host \ ghcr.io/phaneron-robotics/scry-connect:jazzy ``` It binds `0.0.0.0:5339`, LAN-only, and prints a pairing QR on startup. ### 3. Pair & ask Scan the QR in the app, add an [AI provider](#ai-providers), and ask your first question: > *"What's my robot's health?"* [Install on Android](https://phaneron-robotics.github.io/scry/get-started/install-android/) · [Install scry-connect](https://phaneron-robotics.github.io/scry/get-started/install-connect/) · [Pair the phone & robot](https://phaneron-robotics.github.io/scry/get-started/pair/) · [First session](https://phaneron-robotics.github.io/scry/get-started/first-session/) --- ## AI providers Bring your own key, or run **fully offline**. Provider and model are picked from the chat top-bar chip. | Provider | Notes | |---|---| | [**OpenRouter**](https://openrouter.ai/) | **Recommended.** One key unlocks 300+ models (Claude, GPT, Gemini, Llama, and more) and has a free tier. | | [**Ollama**](https://ollama.com/) | **Run a model locally**, on your own machine. No cloud, no key, fully offline. | Scry sends inference through whichever you choose; it stores **only your credentials**, never your robot or chat data. --- ## What you can do - **Debug by chatting.** Ask *"why isn't `/cmd_vel` publishing?"* and Scry inspects topics, nodes, services, and parameters live and explains what it found. - **Voice & images.** Talk hands-free, or attach a screenshot and ask *"what's wrong in this scene?"* Transcription runs on your phone. - **Act with one tap.** Publish a topic, set a parameter, call a service, or drive a lifecycle change. Every write shows exactly what it'll do and waits for your approval. - **Background monitors.** Say *"alert me if `/odom` drops below 10 Hz"* and Scry watches, then pings you the moment a condition trips. - **Live panels & plots.** Sensor readouts, scene snapshots, transform trees, and live plots render right in the chat. - **Viz tab.** A dedicated long-running surface for a 3D scene view, camera feeds, behavior trees, a geomap, live plots, sensor panels, bag playback, and teleop. - **Fleet view.** Monitor and compare multiple robots from one screen. --- ## Documentation Everything lives at **[phaneron-robotics.github.io/scry](https://phaneron-robotics.github.io/scry/)**: - **Get started:** [Overview](https://phaneron-robotics.github.io/scry/get-started/) · [Android](https://phaneron-robotics.github.io/scry/get-started/install-android/) · [scry-connect](https://phaneron-robotics.github.io/scry/get-started/install-connect/) · [Choose your AI](https://phaneron-robotics.github.io/scry/get-started/choose-ai/) · [Pair](https://phaneron-robotics.github.io/scry/get-started/pair/) · [First session](https://phaneron-robotics.github.io/scry/get-started/first-session/) - **Use Scry:** [Chat](https://phaneron-robotics.github.io/scry/use/chat/) · [Attachments](https://phaneron-robotics.github.io/scry/use/attachments/) · [Voice](https://phaneron-robotics.github.io/scry/use/voice/) · [Monitors](https://phaneron-robotics.github.io/scry/use/monitors/) · [Remote](https://phaneron-robotics.github.io/scry/use/remote/) - **How it works:** [Architecture](https://phaneron-robotics.github.io/scry/how-it-works/) - **Reference:** [MCP tools](https://phaneron-robotics.github.io/scry/reference/mcp-tools/) · [Permissions](https://phaneron-robotics.github.io/scry/reference/permissions/) - **Legal:** [Privacy](https://phaneron-robotics.github.io/scry/legal/privacy/) · [Data safety](https://phaneron-robotics.github.io/scry/legal/data-safety/) · [Security](https://phaneron-robotics.github.io/scry/legal/security/) --- ## Acknowledgements Scry is built on the shoulders of great open source: - [**ROS 2**](https://docs.ros.org/) & [**rclpy**](https://github.com/ros2/rclpy), the robot graph Scry speaks to. - [**Model Context Protocol**](https://modelcontextprotocol.io/), the tool-calling standard `scry-connect` implements. - [**OpenRouter**](https://openrouter.ai/) & [**Ollama**](https://ollama.com/), the inference layer Scry routes through (cloud or fully local). - [**Jetpack Compose**](https://developer.android.com/jetpack/compose), [**Hilt**](https://dagger.dev/hilt/), [**OkHttp**](https://square.github.io/okhttp/), [**Room**](https://developer.android.com/jetpack/androidx/releases/room), the Android stack. --- ## License Apache-2.0. <div align="center"> <br> Made with 💚 by the <a href="https://www.phaneronrobotics.com/">Phaneron Robotics</a> team. </div>