08bc23f6df
Phone side — phone/video_bridge.py: - MJPEG streaming server for Android/Termux phone camera - Dual camera backends: OpenCV VideoCapture (V4L2) with automatic fallback to termux-camera-photo for unmodified Android - WebSocket server (ws://0.0.0.0:8765) — binary JPEG frames + JSON info/error control messages; supports multiple concurrent clients - HTTP server (http://0.0.0.0:8766): /stream — multipart/x-mixed-replace MJPEG /snapshot — single JPEG /health — JSON stats (frame count, dropped, resolution, fps) - Thread-safe single-slot FrameBuffer; CaptureThread rate-limited with wall-clock accounting for capture latency - Flags: --ws-port, --http-port, --width, --height, --fps, --quality, --device, --camera-id, --no-http, --debug Jetson side — saltybot_phone/phone_camera_node.py: - ROS2 node: receives JPEG frames, publishes: /saltybot/phone/camera sensor_msgs/Image (bgr8) /saltybot/phone/camera/compressed sensor_msgs/CompressedImage /saltybot/phone/camera/info std_msgs/String (stream metadata) - WebSocket client (primary); HTTP MJPEG polling fallback on WS failure - Auto-reconnect loop (default 3 s) for both transports - Latency warning when frame age > latency_warn_ms (default 200 ms) - 10 s diagnostics log: received/published counts + last frame age - Registered as phone_camera_node console script in setup.py - Added to phone_bringup.py launch with phone_host / phone_cam_enabled args Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
34 lines
1.1 KiB
Python
34 lines
1.1 KiB
Python
from setuptools import setup
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import os
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from glob import glob
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package_name = 'saltybot_phone'
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setup(
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name=package_name,
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version='0.1.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages', ['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
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(os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='seb',
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maintainer_email='seb@vayrette.com',
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description='Android/Termux phone node for SaltyBot',
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license='MIT',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'camera_node = saltybot_phone.camera_node:main',
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'gps_node = saltybot_phone.gps_node:main',
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'imu_node = saltybot_phone.imu_node:main',
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'openclaw_chat = saltybot_phone.openclaw_chat_node:main',
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'phone_bridge = saltybot_phone.ws_bridge:main',
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'phone_camera_node = saltybot_phone.phone_camera_node:main',
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],
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},
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) |