guiTools/spiri_sdk_guitools/sim_drone.py

@@ -151,7 +151,7 @@ class Robot:
                 ui.label(f"""Sysid: {self.sysid}""")
                 ui.button("Start", on_click=self.async_start).classes("m-2")
                 ui.button("Stop", on_click=self.async_stop).classes("m-2")
-                self.video_button = EnableStreamingButton(sysid=self.sysid).classes(
+                self.video_button = EnableStreamingButton(robot_name=self.robot_name).classes(
                     "m-2"
                 )
 

guiTools/spiri_sdk_guitools/video_button.py

@@ -4,13 +4,13 @@ from loguru import logger
 import os
 
 GZ_TOPIC_INFO = ["gz", "topic", "-i", "-t"]
-ENABLE_STREAMING_TOPIC = "/world/{world_name}/model/spiri-{sysid}/link/pitch_link/sensor/camera/image/enable_streaming"
+ENABLE_STREAMING_TOPIC = "/world/{world_name}/model/{robot_name}/link/pitch_link/sensor/camera/image/enable_streaming"
 
 
 class EnableStreamingButton(ui.element):
-    def __init__(self, sysid, state: bool = False) -> None:
+    def __init__(self, robot_name, state: bool = False) -> None:
         super().__init__()
-        self.sysid = sysid
+        self.robot_name = robot_name
         self._state = state
         self.button = None
         with self.classes():
@@ -24,7 +24,7 @@ class EnableStreamingButton(ui.element):
     async def on_click(self) -> None:
         spinner = ui.spinner(size="lg")
         # So we don't block UI
-        result = await run.cpu_bound(self.enable_streaming, self.sysid, not self._state)
+        result = await run.cpu_bound(self.enable_streaming, self.robot_name, not self._state)
         if result:
             ui.notify("Success", type="positive]")
             self.set_state(state=not self._state)
@@ -43,17 +43,17 @@ class EnableStreamingButton(ui.element):
 
     def stop_video(self):
         if self._state != False:
-            self.enable_streaming(sysid=self.sysid, is_streaming=False)
+            self.enable_streaming(robot_name=self.robot_name, is_streaming=False)
             self.set_state(state=False)
 
     @staticmethod
-    def enable_streaming(sysid: int, is_streaming: bool) -> bool:
+    def enable_streaming(robot_name: str, is_streaming: bool) -> bool:
 
         world_name = os.environ["WORLD_NAME"]
         # Check if this topic has any subscribers i.e. model is up
         gz_topic_list_proc = subprocess.Popen(
             GZ_TOPIC_INFO
-            + [ENABLE_STREAMING_TOPIC.format(world_name=world_name, sysid=sysid)],
+            + [ENABLE_STREAMING_TOPIC.format(world_name=world_name, robot_name=robot_name)],
             stdout=subprocess.PIPE,
             stderr=subprocess.PIPE,
             text=True,
@@ -72,7 +72,7 @@ class EnableStreamingButton(ui.element):
             "gz",
             "topic",
             "-t",
-            ENABLE_STREAMING_TOPIC.format(world_name=world_name, sysid=sysid),
+            ENABLE_STREAMING_TOPIC.format(world_name=world_name, robot_name=robot_name),
             "-m",
             "gz.msgs.Boolean",
             "-p",