Update RAE Default App

rae-default/README.md

@@ -1,13 +1,13 @@
 # Video Streams
 
-This App uploads a DepthAI pipeline to RAE and streams each camera output to RobotHub.
+This App launches robot class and uploads a DepthAI pipeline to RAE to stream each camera output to RobotHub.
 
-You can easily replace with you desired sockets that what to be streamed in `streams` dictionary. Also for configuring the pipeline you can edit `build_pipeline()`, such as resolution, fps and more. 
+You can easily replace with you desired sockets that what to be streamed in `streams` dictionary. Also for configuring the pipeline you can edit `build_pipeline()`, such as resolution, fps and more. On how to work with Robot class, please refer to [RAE SDK Docs](https://docs-beta.luxonis.com/develop/use-with-ros/rae-sdk/).
 
 ## Requirements
 
 - RAE or a RVC3 device.
 
 ## Usage
 
-- Assign devices to the App and launch it, one stream will be started.
+- Assign devices to the App and launch it.

rae-default/robotapp.toml

@@ -2,18 +2,18 @@ config_version = "2.0"
 configuration = []
 
 [info]
-name = "RAE Streaming Application"
-description = "Streams all cameras"
+name = "RAE Default App"
+description = "Default App for RAE"
 
 [runtime]
 application = "src/app.py#Application"
 workdir = "/app"
-pre_launch = "export ROS_DOMAIN_ID=30\n. /opt/ros/$ROS_DISTRO/setup.sh\n. /ws/install/setup.sh && export LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
+pre_launch = "export ROS_DOMAIN_ID=30\n. /opt/ros/$ROS_DISTRO/setup.sh\n. /ws/install/setup.sh"
 permissions = ["rae-peripherals"]
 
 [runtime.frontend]
 redirectToIndex = true
 
 [runtime.runs_on]
 type = "image"
-name = "luxonis/rae-ros-robot:dai_ros_py_base"
+name = "ghcr.io/luxonis/rae-ros:v0.2.0-humble"

rae-default/src/app.py

@@ -1,13 +1,12 @@
 import robothub
 import time
 import depthai as dai
-import logging
+import logging as log
 from time import sleep
 import threading
 
 
-from src.robot.robot import Robot
-from src.utils.logging import Log
+from rae_sdk.robot import Robot
 
 def build_pipeline(streams):
     pipeline = dai.Pipeline()
@@ -53,31 +52,29 @@ def __init__(self):
         super().__init__()
         self.device = None
         self.stream_handles = {}
-        self.available_apps = []
         self.mutex=threading.Lock()
-        self.logger = Log()
-        self.robot = Robot(self.logger)
+        self.robot = None
 
     def on_start(self):
         if not robothub.DEVICES:
-            self.logger.error(
+            log.error(
                 "The default app requires an assigned device to run. "
                 "Please go to RobotHub, navigate to the app's page, "
                 "click the \"Reassign devices\" button and select a device."
             )
             self._stop(1)
-        self.logger.info("Starting the app...")
+        log.info("Starting the app...")
         sleep(2)
-        self.logger.info("Starting streams...")
+        log.info("Starting streams...")
         self.init_streams()
-        self.logger.info("Starting Robot")
-        self.robot.start()
+        log.info("Starting Robot")
+        self.robot = Robot()
 
     def on_stop(self):
-        self.logger.info("Stopping the app...")
+        log.info("Stopping the app...")
         self.robot.stop()
         if self.device:
-            self.logger.info("Closing device")
+            log.info("Closing device")
             self.device.close()
 
     def init_streams(self):