Skip to content

Latest commit

 

History

History
42 lines (31 loc) · 1.98 KB

robot-parameters-node.md

File metadata and controls

42 lines (31 loc) · 1.98 KB
Raw
layout title category tags
reference
robot_parameters_node
node
configuration

Description

This node downloads new per-user parameters from the cloud and stores them to disk. The disk store can be directly manipulated in a no-cloud scenario.

Subscribed Topics

/mqtt/incoming

/mqtt/online

/mqtt/connected

MQTT is used to notify the node that new parameters are available from the cloud

Published Topics

/voice_commands/update

Used by IFTTT custom commands to forward the list of voice commands

Launch File

robot_parameters_node.launch

Has a respawn argument that controls if the node respawns. The local_s3 argument is only useful with the proprietary integration test framework.

User Parameters

User parameters are stored in the file /mayfield/data/user/robot_parameters.json which is a dictionary.

The following settings can be used to modify robot behavior:

  • usersetting_enableDanceOnDemand boolean setting for whether Kuri will dance to music played over Bluetooth.
  • usersetting_moment_min_face_size integer setting representing the minimum number of pixels in a face to trigger moment capture.
  • usersetting_moment_min_pet_size integer setting representing the minimum number of pixels int a pet to trigger moment capture.
  • usersetting_similar_subject_distance_max, usersetting_similar_subject_rotation_max, usersetting_similar_subject_extent_ratio_max float settings controlling similar moment filtering.
  • usersetting_moment_min_brightness, usersetting_moment_min_sharpness float settings for the minimum image quality of a captured moment
  • usersetting_moment_min_detection_count, usersetting_moment_min_detection_extent float settings for how long the subject of a moment must be in frame to capture and how much of the frame it must occupy.
  • usersetting_moment_max_similar integer setting for how many moments similar to existing moments Kuri will capture, so 1 means it will take 1 additional similar moment after the first.