cabot_ui

cabot_ui

• cabot_ui_manager is the node to manage the user interface and the navigation of the robot

Events for navigation

• topic: /cabot/event (std_msgs/msg/String)
• Since these events are added on an ad-hoc basis and are not organized, a dedicated message would be better instead of a String message

Navigation event

• Event string can be parsed with cabot_ui/event.py

Publisher/Subscribers

• cabot-ble-server (cabot-ios-app) PUB/SUB
• cabot_speed_control_node.cpp PUB
• cabot-ui-manager.py PUB/SUB
• BT Navigator - behavior trees PUB
• stop_reasons_node.cpp PUB
• run_test.py PUB/SUB (for integration test)

Control event

• navigation_next (OUT): Requesting the destination set in the app
• navigation_subtour (OUT): Requesting the app to proceed subtour
• navigation_destination;<NodeID> (IN): Set the robot's destination to NodeID
• navigation_summons;<NodeID> (IN): Set the robot's destination to NodeID with summons mode
• navigation_cancel (IN): Cancel the navigation

Notification event

• navigation_arrived (OUT): Notify that the robot havs arrived at the destination
• navigation_sound;<SoundID> (OUT): Notify the sound output in the app

Language event

• navigation_getlanguage (OUT): Requesting the language set in the app
• navigation_language;<Lang> (IN): Set the robot's language to
  • en or ja

Internal control event (mapped with button events but can be trigger by external input)

• navigation_speedup (IN): Increase robot speed by 0.05m/s (button_down_1)
• navigation_speeddown (IN): Decrease robot speed by 0.05m/s (button_down_2)
• navigation_pause (IN): Pause the current navigation (button_down_3)
• navigation_resume (IN): Resume the current navigation (button_down_4)
• navigation_idle (IN): Stop loop control of the motor (button_holddown_3)
• navigation_decision (IN): Send navigation_subtour (button_down_5)

Internal notification event

• navigation;event;<InternalNavigationEvent> (IN): Notify the internal navigation event
  • navigation_start: Notify when the robot starts follows the global plan
  • waiting_for_elevator: Notify when the robot starts to wait the elevator
  • elevator_door_may_be_ready: Notify when the robot can make a path going into the elevator cabin
  • people_speed_stopped: Notify when people_speed_control_node limit the speed to zero
  • people_speed_following: Notify when people_speed_control_node limit the speed under 75% of max speed

Click/Button event

• Event string can be parsed with cabot_common/event.py

Publisher

• cabot_hanel_v2_node.cpp PUB
• cabot_keyboard.py PUB (for debug - xterm)

Click event

• click_<Button>_<Count>: click <Button> <Count> times within the click interval
• Example events

  button_down_3
  button_up_3
  click_3_1
  button_down_3
  button_up_3
  button_down_3
  button_up_3
  click_3_2
  

Button event

• <Button>
  • 1: forward button
  • 2: backward button
  • 3: left button
  • 4: right button
  • 5: center button (optional)
• button_down_<Button>: button down
• button_up_<Button>: button up
• button_hold_<Button>: button hold

Handle Button Mapping

• specify button mapping in .env

  CABOT_HANDLE_BUTTON_MAPPING=2
  

1 (Old: ~2025/02)

example .env file

CABOT_IMAGE_DESCRIPTION_ENABLED=true
CABOT_IMAGE_DESCRIPTION_SERVER=http://localhost:8000
CABOT_HANDLE_BUTTON_MAPPING=1
CABOT_IMAGE_DESCRIPTION_MODE=surround,stop-reason

Key Mapping

• Right Click: Start navigation
• Left Click: Pause navigation
• Down Click: decrease speed
• Up Click: increase speed
• Left Hold (3 seconds): Stop motor control
• Down Hold: Describe the surroundings or stop reason

  #CABOT_IMAGE_DESCRIPTION_MODE=surround  # describe surroundings（holding 1 second: short length, 2 seconds: medium, 3 seconds: long）
  #CABOT_IMAGE_DESCRIPTION_MODE=stop-reason  # only stop reason (holding 1 second)
  CABOT_IMAGE_DESCRIPTION_MODE=surround,stop-reason  # holding 1~2 seconds: stop reason, 3 seconds: surrounding (medium length)
  

2 (Default)

example .env file

CABOT_IMAGE_DESCRIPTION_ENABLED=true
CABOT_IMAGE_DESCRIPTION_SERVER=http://localhost:8000
CABOT_HANDLE_BUTTON_MAPPING=2
CABOT_IMAGE_DESCRIPTION_MODE=surround,stop-reason

Key Mapping

• Left Hold (1 second): Pause navigation
• Left Hold (3 seconds): Stop motor control
• Down Hold: Gradually decrease speed (speed drops every second)
• Up Hold: Gradually increase speed (speed rises every second)
• Left Click: Pause/Resume speech output
• Right Click: Start/Resume navigation
  • *while navigating: Describe stop reason
• Down Click: Start conversation interface
• Up Click: Describe the surroundings
  • Single click: Short analysis
  • Double click: Medium-length analysis
  • Triple click: Detailed analysis