Getting started¶

Install the client:

pip install zero-franky

Install the server extra on the control machine:

pip install 'zero-franky[server]'
zero-franky server --host 0.0.0.0 --port 18812

Connect from the application machine:

from zero_franky import Robot, setup_zero_franky

setup_zero_franky("control-machine", 18812)
robot = Robot("192.168.100.1")

The server uses three transports:

Port	Direction	Purpose
`18812`	request/reply	Commands and queries.
`18813`	publish/subscribe	Robot state broadcasts.
`18814`	push/pull	High-rate tracker references; stale updates may be dropped.

The state and tracker ports are the RPC port plus one and two. 0.0.0.0 listens on all interfaces; use --host and firewall rules to restrict access.