This guide will teach you how to send a command to your device.

Step 1: Create your command

In Formant, in the upper-left corner, open the menu and click Settings.
Click Commands >> Add command.
Give your command a name and click Continue.
Choose which devices can receive this command by applying an appropriate set of tags, and then click Next.

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For more information on tags, see Configure access levels.

Enter the name of the command you want to run. This should match the name of a method on your robot.
(Optional) Add any parameters that the user should fill in when running the command.
Add a description and click Save.

Step 2: Run your command

In Formant, in the upper-left corner, open the menu and select the device to which you want to send a command.
In the upper-right corner, click the chevron to open the dropdown menu. Click Issue command.
In the Issue a Command window, select the command you want to send to your device.

issuing a command in the device view

In the teleoperation view, click the three dots in the lower-right corner >> Issue command.

You can also configure command buttons as modules in your teleoperation view. For more information, see Teleoperate a device.

The Formant agent installs with three built-in commands:

Command	Description	Parameters
formant.get_file	Get a file from the device. This causes a file to be ingested.	Absolute file path on the device
formant.publish_ros_topic	Publishes a message to a ROS topic.	String to be published to the specified ROS topic
formant.run_script	Runs a script on the device.	Absolute file path on the device. The script should start with `shebang`.