Run your algorithms deterministically offline, or in real time online. Low overhead & built-in performance analysis tooling
Ark allows you to organize your system into one or more pipelines. A pipeline is a single-process binary which consists of one or more stages.
Enforce topology
The Ark pipeline system enforces topology establishment on startup. This enforcement makes analysis of the pipeline earlier for safety teams, along with making the overall pipeline easier to reason about for developers
Lightweight Messaging
Software is grouped into “Stages” (like ROS nodes). Pipelines have efficient messaging between Stages, only serializing when necessary. Stages are deterministic by default.
Deterministic Simulations
Get the same results every time you run your simulations. A virtual clock and deterministic executor ensure you can run faster or slower than realtime, and still get accurate results
Improve Confidence
Onboard and offboard software are almost identical. Test thoroughly offline to reduce time spent debugging issues on the robots
