mjpye ▮

Robot sleep and wake states

We need the following to run all the time:

  • Signalling Server
  • Vizanti
  • WebRTC to Ros2

The following can wait for a wake up signal:

  • rtsp-server
  • rtsp-to-webrtc

The following can wait until cameras are up and user has asked for them:

  • LiDAR
  • SLAM
  • Behaviour

What we need is a state that is known to both server and robot. The state could be sleep/wake. The reason we need this is so when the webpage refreshes, we can see the RTSP streams are still online and don’t try to restart them again.

So in the webrtc-to-ros2 package, once the data channel is setup, you can easily call a service. There could be 1 service to start the rtsp servers and one to kill.

Thinking we could start the rtsp stuff inside webrtc-to-ros2/index.js for now in the socket.on('data-request') part. So when new connection made, start those scripts. On Hangup, kill them. Can try that first.

Note on Sleep/Wake - March 2025

The have the state persist on the robot and appear in UI, need to add some data coming in from robot to UI. The data channel is setup for comms both ways, but there are no features on the UI yet which can display any useful information, such as:

  • Is the robot asleep/awake?
  • Is SLAM running?
  • Values like htop
  • Temperature

Progress 2025-03-03

Made a branch called mp-sleep-wake which changed the webrtc-to-ros2 node so that when an offer is created over the websocket, we launch the RTSP related screens. When there is a disconnect or bye, these screens are killed. Added new scripts for this. Going to leave it with robot-sleep.sh screens running overnight and try logging in the morning. Will also check htop difference. I think there is a better solution here for sure to make it more stateful, especially when thinking about launching SLAM. HTOP shows all less than 10%, Mem 700M Temp GPU: 50 degC, check with vcgencmd measure_temp Temp CPU:

cpu=$(</sys/class/thermal/thermal_zone0/temp)
echo "$((cpu/1000)) c"

Values looked the same in the morning so no issue running some parts all the time.

February 15, 2025 ∙