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opentera_webrtc_ros

Installation

The following ROS packages are required:

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