add environment variables for image description function

Signed-off-by: Daisuke Sato <[email protected]>

README.md

@@ -87,6 +87,14 @@ RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
   CABOT_SIDE           # left: user stands on the right, right: user stands on the left
   CYCLONEDDS_NETWORK_INTERFACE_NAME # to specify network interface name for Cyclone DDS
   ```
+- Options for image description (hold down right button for 1-3 seconds)
+  ```
+  CABOT_IMAGE_DESCRIPTION_SERVER   # image description server (default=http://localhost:8000)
+  CABOT_IMAGE_DESCRIPTION_ENABLED  # enable image description (default=false)
+  CABOT_IMAGE_DESCRIPTION_ROTATE_LEFT   # rotate left image (default=false)
+  CABOT_IMAGE_DESCRIPTION_ROTATE_FRONT  # rotate front image (default=false)
+  CABOT_IMAGE_DESCRIPTION_ROTATE_RIGHT  # rotate right image (default=false)
+  ```
 - Options for debug/test
   ```
   CABOT_GAMEPAD              # (default=gamepad) gamepad type for remote controll (ex. PS4 controller)

cabot_ui/cabot_ui/description.py

@@ -42,7 +42,8 @@ def __init__(self, node: Node):
         self.max_distance = node.declare_parameter("description_max_distance", 100).value
         self.last_images = {'left': None, 'front': None, 'right': None}
         self.last_plan_distance = None
-        self.host = os.environ.get("CABOT_DESCRIPTION_SERVER", "http://localhost:8000")
+        self.host = os.environ.get("CABOT_IMAGE_DESCRIPTION_SERVER", "http://localhost:8000")
+        self.enabled = os.environ.get("CABOT_IMAGE_DESCRIPTION_ENABLED", False)
         self._logger = rclpy.logging.get_logger("cabot_ui_manager.description")
 
         self.subscriptions = {
@@ -67,10 +68,13 @@ def __init__(self, node: Node):
         }
 
         # rotate modes
+        rotate_left = os.environ.get("CABOT_IMAGE_DESCRIPTION_ROTATE_LEFT", False)
+        rotate_front = os.environ.get("CABOT_IMAGE_DESCRIPTION_ROTATE_FRONT", False)
+        rotate_right = os.environ.get("CABOT_IMAGE_DESCRIPTION_ROTATE_RIGHT", False)
         self.image_rotate_modes = {
-            'left': cv2.ROTATE_180,
-            'front': cv2.ROTATE_180,
-            'right': None
+            'left': cv2.ROTATE_180 if rotate_left else None,
+            'front': cv2.ROTATE_180 if rotate_front else None,
+            'right': cv2.ROTATE_180 if rotate_right else None,
         }
 
         self.plan_sub = self.node.create_subscription(Path, '/plan', self.plan_callback, 10)
@@ -110,6 +114,8 @@ def request_description(self, gp):
             self._logger.error(F"Request Error {error=}")
 
     def request_description_with_images(self, gp, length_index=0):
+        if not self.enabled:
+            return None
         self._logger.info(F"Request Description with images at {gp}")
         image_data_list = []
         distance_to_travel = 100

cabot_ui/scripts/cabot_ui_manager.py

@@ -389,7 +389,7 @@ def _process_navigation_event(self, event):
             self._interface.set_pause_control(True)
             self._navigation.set_pause_control(True)
 
-        if event.subtype == "description":
+        if event.subtype == "description" and self._description.enabled:
             # TODO: needs to reset last_plan_distance when arrived/paused
             self._logger.info(F"Request Description duration={event.param}")
             if self._interface.last_pose:

docker-compose-common.yaml

@@ -45,7 +45,11 @@ services:
       - CABOT_INITZ
       - CABOT_INITA
       - CABOT_SPEED_POI_PARAMS
-      - CABOT_DESCRIPTION_SERVER
+      - CABOT_IMAGE_DESCRIPTION_SERVER
+      - CABOT_IMAGE_DESCRIPTION_ENABLED
+      - CABOT_IMAGE_DESCRIPTION_ROTATE_LEFT
+      - CABOT_IMAGE_DESCRIPTION_ROTATE_FRONT
+      - CABOT_IMAGE_DESCRIPTION_ROTATE_RIGHT
 # ROS2/DDS
       - ROS_LOG_DIR
       - RMW_IMPLEMENTATION