opentera-webrtc-ros

Welcome to the opentera-webrtc-ros project. The goal of the project is to provide useful ROS nodes to stream audio/video/data through Google's WebRTC library wrapped in opentera-webrtc. Wrappers are written in C++ and Python and are compatible with ROS1 (Noetic) at the moment. We use the signaling server implementation provided by opentera-webrtc.

Here are the key features:

• ROS Messages adding compatibility with ROS and OpenTera protobuf protocol used inopentera-teleop-service.

• ROS Streaming nodes capable of sending / receiving audio, video and data from WebRTC streams.

• Teleoperation with a opentera-webrtc-teleop-frontend sending and receiving robot commands from the WebRTC data chanel in JSON format. We hope to be compatible with rosbridge_suite in the future.

• Map-based 2D/3D teleoperation using RTAB-Map ROS. Generated floor maps are streamed like a 2D image for simplicity at the moment by the map_image_generator node.

• Sound Source Localization / Tracking / Separation using ODAS ROS.

• Stand alone demonstrations with simulated robot in gazebo.

• Robot side front-end (Qt) to display call information and remote user interaction.

• OpenTera client basic implementation to act as a connected "device" that can receive calls from the OpenTera microservice cloud. A prototype web service (portal) is available in the opentera-teleop-service project.

Note: This project is under developement. Any contribution or suggestion is welcome. Please use GitHub's Issues system for questions or bug reports.

License

By default, libwebrtc is built with non-free codecs. See opentera-webrtc to build without them.

The project is licensed with:

• Apache License, Version 2.0

Authors

• Cédric Godin (@godced)
• Marc-Antoine Maheux (@mamaheux)
• Dominic Létourneau (@doumdi)
• Gabriel Lauzier (@G-Lauz)
• Jérémie Bourque (@JeremieBourque1)
• Philippe Warren (@philippewarren)
• Ian-Mathieu Joly (@joli-1801)

Dependencies / Requirements

The procedure is written for Ubuntu 20.04 using ROS noetic. We assume ROS is already installed. If not, follow the ROS Installation Instructions first. The following packages must also be installed :

# opentera-webrtc-ros packages
sudo apt-get install nodejs ros-noetic-turtlebot3 ros-noetic-turtlebot3-gazebo ros-noetic-cv-camera ros-noetic-dwa-local-planner ros-noetic-rtabmap-ros

# protobuf
sudo apt-get install libprotobuf-dev protobuf-compiler python3-protobuf

# python dependencies
sudo apt-get install python3-pip portaudio19-dev

# nodejs dependencies
sudo apt-get install nodejs npm

# audio_utils packages
sudo apt-get install cmake build-essential gfortran texinfo libasound2-dev libpulse-dev libgfortran-*-dev

# odas_ros packages
sudo apt-get install libfftw3-dev libconfig-dev

# qt submodules
sudo apt-get install libqt5charts5-dev

Installation

1 - Create a catkin workspace (if not already done)

# Make sure ROS is installed first.
source /opt/ros/noetic/setup.bash
# Create the workspace and initial build files
mkdir -p ~/teleop_ws/src
cd ~/teleop_ws/
catkin_make

2 - Get all the required ROS packages

cd ~/teleop_ws/src
# audio_utils
git clone https://github.com/introlab/audio_utils.git --recurse-submodules
# odas_ros
git clone https://github.com/introlab/odas_ros.git --recurse-submodules
# opentera-webrtc-ros
git clone https://github.com/introlab/opentera-webrtc-ros.git --recurse-submodules

3 - Install the Python requirements

cd ~/teleop_ws/src/opentera-webrtc-ros/opentera_client_ros
python3 -m pip install -r requirements.txt
cd ~/teleop_ws/src/opentera-webrtc-ros/opentera_webrtc_ros
python3 -m pip install -r requirements.txt
cd ~/teleop_ws/src/opentera-webrtc-ros/opentera_webrtc_ros/opentera-webrtc
python3 -m pip install -r requirements.txt

4 - Build all the ROS packages

cd ~/teleop_ws
source devel/setup.bash
catkin_make

Running the demos

Please see the opentera_webrtc_demos package.

Sponsor

IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab