bob_sd35.tti_node

Classes

Text to image generator node.

Functions

main([args])

Module Contents

class bob_sd35.tti_node.TTINode

Bases: rclpy.node.Node

Text to image generator node.

_pipe = None

_cv_bridge

_prompt_sub

_image_pub

_prompt_callback(msg: std_msgs.msg.String): Callback for incoming prompt messages. Uses message content as prompt.

_publish_image(pil_image: PIL.Image.Image): Publishes a PIL Image as a ROS Image message if there are subscribers.

load_model(): Downloads the model if necessary and loads the SD3.5 Text2Img pipeline. Returns the loaded pipeline.

generate_image(prompt: str, output_path: str) → PIL.Image.Image | None

Generates an image based on text prompt.

Args:: prompt: The text prompt describing the desired output. output_path: Path where the output image will be saved.
Returns:: The generated PIL Image if successful, None otherwise.

unload_model(): Unloads the model from memory to free VRAM.

_generate_auto_filename(output_path: str) → str

Generates a unique filename when output_path ends with ‘auto’.

If output_path is ‘auto’ or ends with ‘/auto’, generates a filename with pattern: <base_path>tti_<4-digit-counter>_<8-char-random>.png

Args:: output_path: The output path parameter value.
Returns:: The generated unique filename, or original path if not ‘auto’.

_run_generation(): Runs the image generation using the configured parameters. If ‘once’ is True, shuts down the node after generation.

_schedule_shutdown(success: bool = True): Schedules a shutdown after keep_alive seconds using a ROS2 timer. This is non-blocking and allows the executor to continue processing.

_shutdown_callback(): Timer callback that triggers the shutdown.

bob_sd35.tti_node.main(args=None)