Software configuration

There are two topics for camera and microphone

• /a1
• /output/image_raw/compressed

Topic a1 is published by /audio_stream_xxxxx node and /output/image_raw/compressed is published by /cam_stream node. We can verify by using rosnode info command

pi@raspberrypi:~/linorobot_ws/src/kidbright_tpu_nanopi/scripts $ rosnode info /cam_stream

--------------------------------------------------------------------------------
Node [/cam_stream]
Publications: 
 * /output/image_raw/compressed [sensor_msgs/CompressedImage]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: None

Services: 
 * /cam_stream/get_loggers
 * /cam_stream/set_logger_level


contacting node http://raspberrypi:45529/ ...
Pid: 745
Connections:
 * topic: /output/image_raw/compressed
    * to: /web_video_server
    * direction: outbound (39449 - 127.0.0.1:53258) [18]
    * transport: TCPROS
 * topic: /rosout
    * to: /rosout
    * direction: outbound (39449 - 127.0.0.1:53152) [16]
    * transport: TCPROS

and

pi@raspberrypi:~/linorobot_ws/src/kidbright_tpu_nanopi/scripts $ rosnode info /audio_stream_746_1643555002873
--------------------------------------------------------------------------------
Node [/audio_stream_746_1643555002873]
Publications: 
 * /a1 [std_msgs/String]
 * /audio_int [kidbright_tpu/int1d]
 * /rosout [rosgraph_msgs/Log]
 * /sound_level [std_msgs/Float32]

Subscriptions: None

Services: 
 * /audio_stream_746_1643555002873/get_loggers
 * /audio_stream_746_1643555002873/set_logger_level


contacting node http://raspberrypi:46307/ ...
Pid: 746
Connections:
 * topic: /audio_int
    * to: /rosbridge_websocket
    * direction: outbound (43355 - 127.0.0.1:32930) [15]
    * transport: TCPROS
 * topic: /sound_level
    * to: /rosbridge_websocket
    * direction: outbound (43355 - 127.0.0.1:32942) [12]
    * transport: TCPROS
 * topic: /rosout
    * to: /rosout
    * direction: outbound (43355 - 127.0.0.1:32846) [11]
    * transport: TCPROS

ROS node that is responsible to control robot is /rosserial_lino. There are many topic for this node. However, the main topic to control robot movement is /cmd_vel.

There are two nodes, namely /rosbridge_websocket and /web_video_server, which are used for communicating with Web application.