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Spot CAM Services

These examples demonstrate how to interact with the Spot CAM.

Setup Dependencies

These examples need to be run with python3, and have the Spot SDK installed. See the requirements.txt file for a list of dependencies which can be installed with pip.

python3 -m pip install -r requirements.txt

Older versions of pip may have trouble installing all of the requirements. If you run into a problem, upgrade pip by running

python3 -m pip install --upgrade pip

Running the Example

To run the examples:

export ROBOT_IP=<ip-address>

# Version Service
python3 -m command_line $ROBOT_IP version software

# Audio Service
python3 -m command_line $ROBOT_IP audio set_volume 1
python3 -m command_line $ROBOT_IP audio get_volume
python3 -m command_line $ROBOT_IP audio load autonomous_robot_en data/autonomous_robot_en.wav
python3 -m command_line $ROBOT_IP audio list
python3 -m command_line $ROBOT_IP audio play autonomous_robot_en
python3 -m command_line $ROBOT_IP audio delete autonomous_robot_en
python3 -m command_line $ROBOT_IP audio list

# Compositor Service
python3 -m command_line $ROBOT_IP compositor list
python3 -m command_line $ROBOT_IP compositor get
python3 -m command_line $ROBOT_IP compositor set mech
python3 -m command_line $ROBOT_IP compositor visible
python3 -m command_line $ROBOT_IP compositor get_colormap
python3 -m command_line $ROBOT_IP compositor set_colormap jet
python3 -m command_line $ROBOT_IP compositor set_reticle --xs 0.1 0.2 0.3 --ys 0.1 0.4 0.8 --unit c

# Lighting Service
python3 -m command_line $ROBOT_IP lighting set 0.1 0.2 0.3 0.4
python3 -m command_line $ROBOT_IP lighting get

# Media Log Service
python3 -m command_line $ROBOT_IP media_log list_cameras
python3 -m command_line $ROBOT_IP media_log store pano
python3 -m command_line $ROBOT_IP media_log store_retrieve ptz
# The UUID is given by the 'store' command
IMAGE_UUID=f0e835c2-54d4-11ea-9365-00044be03a91
python3 -m command_line $ROBOT_IP media_log status $IMAGE_UUID
python3 -m command_line $ROBOT_IP media_log retrieve $IMAGE_UUID
python3 -m command_line $ROBOT_IP media_log delete $IMAGE_UUID

# You should not see the UUID in the list of logpoints
python3 -m command_line $ROBOT_IP media_log list_logpoints

# You should see 10 stitched jpeg images
seq 10 | xargs -I{} python3 -m command_line $ROBOT_IP media_log store_retrieve pano

# Ptz Service
python3 -m command_line $ROBOT_IP ptz list
python3 -m command_line $ROBOT_IP ptz set_position mech 0 0 1
python3 -m command_line $ROBOT_IP ptz get_position mech
python3 -m command_line $ROBOT_IP ptz set_focus auto_focus
python3 -m command_line $ROBOT_IP ptz set_focus manual_focus --distance 5
python3 -m command_line $ROBOT_IP ptz get_focus

# Get Spot CAM ICE settings
python3 -m command_line $ROBOT_IP network ice_settings
# Set Spot CAM ICE settings (example JSON file provided)
python3 -m command_line $ROBOT_IP network set_ice ice.json

# WebRTC and Stream Quality Service
# Set target (maximum) bitrate to 2mbps
# This command can be useful when running the python3 WebRTC examples
# The python3 WebRTC library (aiortc) can sometimes have trouble streaming at higher bitrates
python3 -m command_line $ROBOT_IP stream_quality set --target-bitrate 2000000
# Save images to .jpg files
python3 -m command_line $ROBOT_IP webrtc save
# Save 10 seconds of video (no audio)
python3 -m command_line $ROBOT_IP webrtc record --time 10
# Save 10 seconds of audio
python3 -m command_line $ROBOT_IP webrtc record audio --time 10

Spot Cam Video Core IO Extension Example

This example creates a coreio extension to pull video and audio data from the webrtc stream.

Running Spot Cam Video Example

To build this extension use the extension builder located ../extensions then run the command:

python3 build_extension.py \
    --dockerfile-paths ../spot_cam/Dockerfile.l4t \
    --build-image-tags spotcam_video:latest \
    --image-archive spotcam_video.tgz \
    --icon ../spot_cam/video.jpg \
    --package-dir ../spot_cam \
    --spx ~/Downloads/spotcam_video.spx

Then add the .spx file to the core io extension page.

Set up the action on the tablet

  1. Go to actions
  2. Select empty inspection
  3. Add a data aquision plugin
  4. Select "Data Acquision Save Video - Data".
  5. Add an image for sensor pointing
  6. Select "Spot CAM - Ptz".
  7. Set the request time out to 120 seconds
  8. Set Robot Body Control to "Spot Cam Scene Alignment"