Navel Remote
This project will be deployed on the navel robot to enable remote control via ZTL
Installation
Clone the repository and set up a virtual environment:
git clone git@gitlab.com:robothouse/rh-projects/hospital-at-home/navel-remote.git
cd navel-remote
python3 -m venv .venv
source .venv/bin/activate
pip install --upgrade pip
pip install -e .
This installs navel-remote in editable mode along with its dependencies (navel, ztl, ztl-web).
Usage
Once installed, two CLI commands are available:
navel-remote --help
navel-camera --help
Camera stream (navel-camera)
Publishes frames from the robot's head camera over ZTL.
navel-camera [-p PORT] [-s SCOPE] [--compress | --no-compress] [-q JPEG_QUALITY]
| Flag | Default | Description |
|---|---|---|
-p, --port |
5665 |
Port to publish on. |
-s, --scope |
/head_cam |
Scope to publish data under. |
--compress / --no-compress |
--compress |
JPEG-compress frames before publishing. Cuts payload size roughly 10-20x, which matters over WiFi where an uncompressed ~920KB/frame stream needs ~9.2MB/s to sustain 10fps. Use --no-compress to publish raw navel.Frame objects instead (e.g. for lossless capture on a fast/local link). |
-q, --jpeg-quality |
80 |
JPEG quality (1-95) when --compress is enabled; lower values trade image quality for less bandwidth. Ignored with --no-compress. |
Viewing the stream
test/display.py is a standalone script (not an installed CLI command) that subscribes to a running navel-camera and displays the stream with matplotlib. Compression is configured entirely on the publisher side (navel-camera's --compress/--no-compress, on by default); display.py has no matching flag because it doesn't need one — it inspects each incoming frame and transparently decodes whichever format was actually sent, JPEG-compressed or raw. Just point it at the remote host:
./test/display.py -r 10.0.1.184
| Flag | Default | Description |
|---|---|---|
-r, --remote |
navel1-1 |
Remote host running navel-camera to subscribe to. |
-p, --port |
5665 |
Remote port to subscribe to (must match navel-camera's --port). |
-s, --scope |
/head_cam |
Scope data is published under (must match navel-camera's --scope). |
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