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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS package for OpenTera WebRTC signaling server. |
| Checkout URI | https://github.com/introlab/opentera-webrtc-ros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-02-14 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robotics webrtc ros teleoperation opentera |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Provides Nodes to join a WebRTC call from ROS
Additional Links
Maintainers
- Dominic Létourneau
Authors
- Cédric Godin
opentera_webrtc_ros
Installation
The following ROS packages are required:
- roscpp
- cv_bridge
- std_msgs
- sensor_msgs
- audio_utils
RosStreamBridge
Description
Implement a ROS node that publish received images and audio as a WebRTC stream. It also forwards images and audio received on the WebRTC stream to ROS.
Subscribes
- ros_image :
sensor_msgs/Image - audio_in :
audio_utils_msgs/AudioFrame
Advertises
- webrtc_image :
opentera_webrtc_ros_msgs/PeerImage - webrtc_audio :
opentera_webrtc_ros_msgs/PeerAudio - audio_mixed :
audio_utils_msgs/AudioFrame
Default Parameters
<param name="is_stand_alone" value="true"/>
<param name="stream">
<param name="can_send_audio_stream" value="true"/> <!-- Send audio stream to the signaling server -->
<param name="can_receive_audio_stream" value="true"/> <!-- Receive audio stream from the signaling server -->
<param name="can_send_video_stream" value="true"/> <!-- Send video stream to the signaling server -->
<param name="can_receive_video_stream" value="true"/> <!-- Receive video stream from the signaling server -->
<param name="is_screen_cast" value="false"/> <!-- Is the image source a screen capture? -->
<param name="needs_denoising" value="false"/> <!-- Does the image source needs denoising? -->
</param>
<param name="signaling">
<param name="server_url" value="http://localhost:8080"/> <!-- Signaling server URL used in stand_alone mode -->
<param name="client_name" value="streamer"/> <!-- Peer name as which to join the room -->
<param name="room_name" value="chat"/> <!-- Room name to join -->
<param name="room_password" value="abc"/> <!-- Room password used in stand alone mode -->
</param>
For usage exemple look at ros_stream_client.launch.xml.
RosDataChannelBridge
Description (RosDataChannelBridge)
Implement a ROS node that publish received messages on the WebRTC data channel. It also forwards messages received on the WebRTC data channel to ROS.
Subscribes (RosDataChannelBridge)
- ros_data :
std_msgs/String
Advertises (RosDataChannelBridge)
- webrtc_data :
opentera_webrtc_ros_msgs/PeerData
Default Parameters (RosDataChannelBridge)
<param name="is_stand_alone" value="true"/>
<param name="signaling">
<param name="server_url" value="http://localhost:8080"/> <!-- Signaling server URL used in stand_alone mode -->
<param name="client_name" value="data_bridge"/> <!-- Peer name as which to join the room -->
<param name="room_name" value="chat"/> <!-- Room name to join -->
<param name="room_password" value="abc"/> <!-- Room password used in stand alone mode -->
</param>
For usage exemple look at ros_data_channel_client.launch.xml.
RosJsonDataHandler
Decription (RosJsonDataHandler)
Implement a ROS node that dispatch received JSON messages and forward them on the rights topics.
Subscribes (RosJsonDataHandler)
- webrtc_data :
opentera_webrtc_ros_msgs/PeerData
Advertises (RosJsonDataHandler)
- cmd_vel :
geometry_msgs/Twist
JSON Format (RosJsonDataHandler)
For usage exemple look at ros_json_data_handler.launch.xml.
libnavigation
Description (libnavigation)
Shared library for goal_manager and labels_manager to send navigation commands to the nav2 stack as well as navigation waypoints to map_image_generator.
The library is embedded in both nodes, a single instance is not shared.
Subscribed topics (libnavigation)
- stop (
std_msgs/Bool): Signal to cancel all move_base goals.
Published topics (libnavigation)
- waypoint_reached (
std_msgs/String): String of a JSON message containing the ID of the waypoint that has been reached. Used by the frontend to determine when the trajectory has been completed. - map_image_drawer/remove_goal: (
geometry_msgs/PoseStamped): Removes a waypoint from the map image - map_image_drawer/add_goal: (
geometry_msgs/PoseStamped): Adds a waypoint to the map image
goal_manager
Description (goal_manager)
Manages multiple waypoints received by the frontend and sends them to move_base one at a time. This node relies a service provided by the map_image_generator package to convert the waypoints from image coordinates to map coordinates.
Subscribed topics (goal_manager)
- waypoints (
opentera_webrtc_ros_msgs/Waypoints): Array of image coordinate waypoints received from the frontend. - start (
std_msgs/Bool): Signal to start navigating sequentially to the previously received waypoints. - All subscribed topics of
libnavigation
Published topics (goal_manager)
- All published topics of
libnavigation
labels_manager
Description (labels_manager)
Manages labels.
The stored labels are dependent on the map transform and the database needs to be cleaned if the map changes.
A label represents a name grouped with an associated pose and a description.
This node relies on a service provided by the map_image_generator package to convert the labels from image coordinates to map coordinates.
This node can also send a label as a goal to nav2 by its name.
Subscribed topics (labels_manager)
- add_label_simple (
opentera_webrtc_ros_msgs/LabelSimple): Label received from the frontend. - remove_label_by_name (
std_msgs/String): Remove a label by its name - edit_label_simple (
opentera_webrtc_ros_msgs/LabelSimpleEdit): Rename or move a label using frontend map coordinates - navigate_to_label (
std_msgs/String): Navigate to a label by its name - All subscribed topics of
libnavigation
Published topics (labels_manager)
- stored_labels (
opentera_webrtc_ros_msgs/LabelArray): Array of labels currently stored - stored_labels_text (
std_msgs/String): JSON message with an array of maps{name: string, description: string}labels names and descriptions. Used by the frontend to display a list of labels. - All published topics of
libnavigation
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| opentera_webrtc_demos |
Launch files
- launch/ros_data_channel_client.launch.xml
-
- name [default: data_channel_bridge]
- is_stand_alone [default: true]
- server_url [default: http://localhost:8080]
- client_name [default: data_streamer]
- room_name [default: chat]
- room_password [default: abc]
- verify_ssl [default: true]
- input_topic [default: webrtc_data_outgoing]
- output_topic [default: webrtc_data_incoming]
- launch/ros_stream_client.launch.xml
-
- name [default: topic_streamer]
- is_stand_alone [default: true]
- video_queue_size [default: 1]
- audio_queue_size [default: 1]
- can_send_video_stream [default: false]
- can_receive_video_stream [default: false]
- is_screen_cast [default: false]
- needs_denoising [default: false]
- forced_video_codecs [default: ['']]
- force_gstreamer_video_hardware_acceleration [default: false]
- use_gstreamer_video_software_encoder_decoder [default: false]
- can_send_audio_stream [default: false]
- can_receive_audio_stream [default: false]
- sound_card_total_delay_ms [default: 40]
- echo_cancellation [default: true]
- auto_gain_control [default: true]
- noise_suppression [default: true]
- high_pass_filter [default: false]
- stereo_swapping [default: false]
- transient_suppression [default: true]
- server_url [default: http://localhost:8080]
- client_name [default: streamer]
- room_name [default: chat]
- room_password [default: abc]
- verify_ssl [default: true]
- input_camera_topic [default: ros_image]
- output_webrtc_image_topic [default: webrtc_image]
- input_audio_topic [default: audio_in]
- output_audio_mixed_topic [default: audio_mixed]
- output_webrtc_audio_topic [default: webrtc_audio]
- launch/ros_json_data_handler.launch.xml
-
- name [default: json_data_handler]
- input_topic [default: webrtc_data]
- linear_multiplier [default: 1]
- angular_multiplier [default: 1]
- cmd_vel_topic [default: cmd_vel]
- launch/opentera_data_test.launch.xml
-
- name [default: data_channel_bridge]
- is_stand_alone [default: false]
- server_url [default: http://localhost:8080]
- client_name [default: streamer]
- room_name [default: data]
- room_password [default: password]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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