Migrate from SDK v1

SDK v2 is a new client and control plane, not a drop-in upgrade. Migrate one behavior at a time and validate it against a simulation or safely constrained robot.

Identify v1 code

Code is using v1 if it imports oloclient or olo-client, constructs OLOClient, authenticates with a Portal username or token, calls getUserRobots(), or connects by Portal robot ID. Methods such as sendVelocity, moveFor, startVideo, rosbag management, script scheduling, terminal access, and maintenance operations also belong to the v1 or Platform management surfaces.

Do not copy those signatures into a v2 program. They are intentionally omitted from this site’s examples and API reference.

Connection model

v1 combined OLO account authentication, remote Appliance selection, rosbridge operations, and Platform management in one client. SDK v2 connects to one Appliance gRPC endpoint:

from olo import Client

with Client("192.168.1.10:50151") as client:
    robot = client.robot()

import { connect } from "olo/node";

const client = connect("192.168.1.10:50151");
const robot = await client.robot();

In the SDK Playground, omit the target because the Appliance supplies its local endpoint. Outside it, your deployment must make the endpoint reachable. Portal login and cloud routing are not v2 Client features.

Map concepts, not method names

  • Replace account robot selection with client.robot(namespace). A namespace identifies a robot in the Appliance’s ROS graph; it is not a Portal robot ID.

  • Replace bare topic strings with TopicInfo objects containing the ROS message type. Use Core publishers, subscriptions, latest-message reads, and parameter methods documented in Core.

  • Replace callback subscriptions with the v2 streaming abstraction. Python subscriptions are iterators; TypeScript subscriptions are AsyncIterable.

  • Replace ad-hoc pose and transform dictionaries with typed Spatial values such as Point, Quaternion, Pose, and Transform.

  • Replace v1 MoveIt helpers with the typed Kinematics planning, execution, robot-state, speed-scaling, and end-effector operations in Kinematics.

  • Replace moveFor with robot.locomotion.move for a relative planar pose. These commands measure motion from odometry instead of estimating it from elapsed time.

  • Replace sendVelocity and startVelocityHold with repeated robot.locomotion.send_velocity / robot.locomotion.sendVelocity calls. Each call refreshes a short Appliance-owned lease; motion stops automatically if the caller stops refreshing it.

  • Replace v1 Nav2 helpers with Navigation where an equivalent v2 operation exists.

Portal-only and Appliance-only features

Keep using the Portal or the appropriate Appliance management interface for account authentication, appliance registration, saved scripts, schedules, terminal and maintenance operations, Cloud Sim lifecycle, browser visualization, and WebRTC video. Do not assume an equivalent SDK v2 method exists.

Persisted outputs (images, videos, rosbags) use the archive module in v2:

  • robot.archive.captureImage saves a JPEG to appliance disk (distinct from core.getImage, which returns an in-memory frame).

  • robot.archive.captureVideo returns a session; call stop() for the MP4 result.

  • robot.archive.recordBag / listBags / inspectBag / playBag control local rosbag recording and playback.

Cloud catalogs: client.platform.archive.listBags(), listVideos(), and listImages() list durable org artifacts. Cloud sync and cross-location transfer remain Portal or future platform APIs.

SDK v1 videoRecording.startRecording(topic, opts) maps to robot.archive.captureVideo({ topic, ... }) and session.stop().

Vision is another important boundary: SDK v2 Vision provides local data conversion and geometry helpers. Portal video sessions and managed AI-vision providers are separate capabilities.

Behavioral differences to test

Python v2 is synchronous; remove v1 await expressions around Python client calls and use a with Client(...) block or close the client explicitly. TypeScript remains asynchronous and uses camelCase methods and millisecond timeout options. Both languages raise typed OloError subclasses for gRPC failures.

Test namespace resolution, topic message types, timeouts, cancellation, and robot-stop behavior explicitly. A v1 convenience command may have included repeated publishing or cleanup that is not implied by a lower-level v2 publish call.