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Installation

Choose a deployment pattern

OpenCastor supports four deployment patterns from the OpenCastor stack spec:

  1. Declaration-only. pip install robot-md. Manifest authoring, schema validation, dry-run agent planning. No physical robot moves.
  2. Gateway Mode. pip install robot-md-gateway + a gateway init wizard. Single-robot local deployment with the open safety kernel.
  3. OpenCastor Full (this guide below). The productized runtime — gateway embedded, plus drivers, fleet, cloud bridge, UI.
  4. Regulated overlay. Any of the above + signed evidence bundle export to RRF + jurisdiction-specific compliance packets.

This installation guide covers Pattern 3.

Requirements

  • Python 3.10+
  • Any Linux/macOS board with 1 GB+ RAM (Raspberry Pi 4/5, Jetson, x86)
  • Optional: Hailo-8L NPU, Coral TPU, CUDA GPU

Install

pip install opencastor

git clone https://github.com/craigm26/OpenCastor.git
cd OpenCastor
pip install -e .

First boot

castor init          # interactive setup wizard
castor status        # verify runtime is healthy
castor gateway start # start the local HTTP gateway

The gateway runs on http://localhost:18789 by default.

Verify

curl http://localhost:18789/api/status

Expected response:

{
  "version": "v2026.3.30.0",
  "rcan_version": "2.2.0",
  "runtime": "ok",
  "p66": "active"
}

Next steps