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:
python3 -m venv .venv
source .venv/bin/activate
pip install --upgrade pip
pip install navel-remote
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
Remote control server (navel-remote)
Runs the remote control service on the robot and responds to commands received over ZTL.
navel-remote [-h] [-p PORT] [-s SCOPE] [-f]
| Flag | Default | Description |
|---|---|---|
-p, --port |
5565 |
Port to listen on for incoming remote control commands. |
-s, --scope |
/navel |
Scope to respond to. Clients must use the same scope when publishing commands. |
-f, --federated-logging |
Disabled | Enable federated data logging. Requires a configured federation remote and publisher. |
-h, --help |
- | Show help information and exit. |
Examples
Start the remote control service with the default configuration:
navel-remote
Listen on a custom port and scope:
navel-remote --port 6000 --scope /robot
Enable federated logging:
navel-remote --federated-logging
Notes
- The service must be running on the robot before remote clients can connect and issue commands.
- The configured port and scope must match those used by the remote client.
- Federated logging is optional and only required when integrating with a configured federation logging infrastructure.
- You can use
.servicefiles in theetcfolder to enable systemd autostarting.
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. |
-h, --help |
- | Show help information and exit. |
On startup, navel-camera logs which mode it's running in, e.g. JPEG compression enabled (quality=80) or JPEG compression disabled, publishing raw frames — check that line to confirm compression is actually on.
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). |
1 maintainer
Metadata
1 maintainer
Release files for navel-remote 0.4.8
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| navel_remote-0.4.8.tar.gz | 22.3 kB | Details |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| navel_remote-0.4.8-py2.py3-none-any.whl | Python 3, Python 2 | none | any | Details |
Total release size: 34.6 kB
