Project Watch Dog

Intelligent visual patrol system that combines Unitree GO2 telemetry, Jetson-based RTSP feeds, and an AGX-hosted detection dashboard to monitor factory floors in real time.

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📸 What It Delivers

• Native GO2 WebRTC feed proxied from the backpack Orin for ultra-low latency viewing.
• RTSP Color / IR / Depth feeds pulled from the Jetson stack with automatic reconnection.
• Hybrid YOLO-E detections (visual + prompt-driven) drawn over the live stream.
• Robot control hooks (stand, crouch, sit, shake) with motion-mode keepalive logic.
• Battery + status telemetry surfaced in the dashboard header and REST APIs.

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🗺️ System Topology

GO2 Robot (192.168.50.75)
        │ WebRTC (STA)
        ▼
Orin Backpack (192.168.50.207)
    - ~/go2_service.py  → HTTP API :5001
    - RTSP server :8554  (color/ir/depth)
        │ HTTP/RTSP
        ▼
AGX Xavier (192.168.50.208)
    - ~/dev/watch_dog/start_web_app.py :8000
    - Runs YOLO detection, proxy endpoints, UI
        │ HTTPS/Browser
        ▼
Operator Laptop

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📁 Repo Layout (highlights)

Path	Purpose
go2_service.py	GO2 WebRTC + command service (runs on Orin).
web_app.py	Flask dashboard (runs on AGX).
camera.py	Camera manager that switches Mac, RTSP, GO2 WebRTC sources.
templates/index.html	Dashboard UI (Inter-based, dark theme).
config.yaml	Sanitized template for detection + GO2 settings (fill secrets via env).
rtsp_proxy.py	Utility to bridge Jetson RTSP → HTTP MJPEG if needed.
visual_prompts/	Prompt images used by the detector.

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⚙️ Prerequisites

• macOS / Linux dev machine with Python 3.11+ for local edits.
• Access to both hosts:
  • unitree@192.168.50.207 (password 123) – Orin.
  • raleigh@192.168.50.208 (password robodog#1) – AGX.
• GO2 robot reachable at 192.168.50.75 (STA mode).
• Git LFS not required (large weights kept out of repo).

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🚀 Quick Start

1. Clone & Install (developer box)

git clone https://github.com/RaleighSF/robodog.git
cd watch_dog
python3 -m venv venv
source venv/bin/activate
pip install -r requirements.txt

2. Configure

Edit config.yaml or provide env vars:

vision:
  source: rtsp://192.168.50.207:8554/color
  openai_api_key: ""      # leave empty, set OPENAI_API_KEY env instead
go2:
  service_url: http://192.168.50.207:5001

export OPENAI_API_KEY="sk-..."    # optional if using NLP prompts

3. Deploy services

Orin (192.168.50.207)

scp go2_service.py unitree@192.168.50.207:~
ssh unitree@192.168.50.207 <<'EOF'
pkill -f go2_service.py || true
nohup python3 ~/go2_service.py > ~/go2_service.log 2>&1 &
EOF

AGX (192.168.50.208)

scp -r . raleigh@192.168.50.208:~/dev/watch_dog
ssh raleigh@192.168.50.208 <<'EOF'
cd ~/dev/watch_dog
source venv/bin/activate
pkill -f start_web_app.py || true
nohup python start_web_app.py > web_app_agx.log 2>&1 &
EOF

Dashboard becomes available at http://192.168.50.208:8000.

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🧭 Operating the Dashboard

1. Open the site and choose Native Go2 Camera or any RTSP channel.
2. Press Start Patrol to spin up the selected feed plus detector.
3. Use the left panel to review detections, switch cameras, or stop patrol.
4. Stop button now triggers /go2/stream/unregister to pause GO2 encoding and free RTSP bandwidth.

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🔧 Maintenance & Troubleshooting

Symptom	Checks
GO2 feed blank	ssh unitree@... tail -f ~/go2_service.log – confirm [Stream] register route ... messages.
RTSP feeds take 30s to start	Ensure GO2 view is stopped so encoder gating disables the WebRTC channel.
Dashboard unresponsive	ssh raleigh@... tail -f ~/dev/watch_dog/web_app_agx.log and restart service.
Secret detected on push	Keep real keys out of config.yaml; store in env or secrets manager.

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🔐 Security Notes

• All secrets (OpenAI, etc.) must be injected via env vars (export OPENAI_API_KEY=...) or gitignored files.
• Git history has been sanitized—future pushes with embedded keys will be blocked by GitHub push protection.

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🛣️ Future Enhancements

• Automated GO2 encoder gating verification logs surfaced in UI.
• Motion keepalive + auto crouch when idle.
• Optional GitHub Actions deployment scripts.

Happy patrolling! 🐕‍🦺