Turtle Control Software

A client-server application based on WebSocket technology to control Turtle Rover remotely

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How it works (simplified)

Web Application --WebSockets--> Server --Serial--> Firmware

Requirements

• uv4l to send video stream
• Working UART

How to install

• Download latest package
• sudo apt install ./turtlerover-tcs_*_all.deb

How to run

• Open in browser http://10.0.0.1/ (for more detailed network configuration look at Turtle OS repo)

How to setup Development Environment

To replicate our development workflow you will need a Linux-based distro or MacOS

Prerequisites: Install Yarn package manager on Your local machine.

• Connect Raspberry Pi with Your machine
• Create folder e.g. pi in home directory
• Run ssh pi@10.0.0.1 to enter TurtleOS shell
• Run sudo chmod 777 /opt/turtlerover/ && sudo rm -R /opt/turtlerover/tcs to delete productional TCS
• On Your local machine type: sshfs pi@10.0.0.1:/ pi. This will mount whole TurtleOS filesystem in pi directory
• Run cd pi/opt/turtlerover and clone this repo
• Now You can open TCS project in Your favorite editor

How to build

• Run yarn install
• Run yarn build to build productional files. There is also yarn watch command, it will watch for any changes in files and rebuild project
• Install Python dependencies sudo pip3 install -r requirements.txt
• Run utils/make_deb.sh

How streaming works

Streaming is done with UV4L drivers and WebRTC streaming server. UV4L comes preinstalled with TurtleOS.

Stream troubleshooting

There are still some problems with streaming and we are working to fix them. If stream doesn't work on your device, you may try to experiment with /etc/uv4l/uv4l-uvc.conf, especially with webrtc-enable-hw-codec option and force_hw_vcodec in core/stream.js. If you find any solution to your problem with streaming - please let us know or create a pull request.