Fix online demo and initial online support for ttop (introlab#45)

* Updated to new opentera-webrtc API * updated online-demo * Added output screen to opentera_client_ros launch file * Update opentera python dependency * Update opentera-webrtc * Fix python38 cmake * WIP python38 * Revert 9dae308, but not its modifications to the CMakeLists.txt file * Fix tilde in opentera_client config file not working * Fix ttop being noetic and not melodic * WIP docker * WIP docker * Added protobuf messages * Fix relative paths for protoc * WIP protobuf * Removed opentera from client requirements * WIP * WIP * WIP sammy * WIP sammy * Bump opentera requirement to 1.1.0 * Added opentera-webrtc requirements.txt requirement to README * Fix problem in yaml rosparam with colon in url * Updated demo-odas launch file for new echocancel script * WIP * WIP * Fix PR * Added arguments to demos to launch rviz, false by default * Fix segfault sometimes in data channel client, maybe * Update frontend to work on iPad * Added launchfile output argument and merged common parts of demo and demo-online * Added back demo.launch to pick dispatch between offline or online based on an argument * Fix code review elements * Removed useless linking with opentera_webrtc for json_data_handler * Compatibility with new echocancel script in odas_ros * Fix launch files * Fix receive_video_stream for secondary video streamers * Removed pip install when starting signaling server, and moved back error fetching ice servers as an error and not a warning Co-authored-by: Dominic Letourneau <[email protected]> Co-authored-by: Your Name <[email protected]>
wendwosenbb · Apr 11, 2022 · 76efd39 · 76efd39
1 parent b11d371
commit 76efd39
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diff --git a/.gitmodules b/.gitmodules
@@ -4,3 +4,6 @@
 [submodule "opentera-webrtc-demos/opentera-webrtc-teleop-frontend"]
 	path = opentera_webrtc_demos/opentera-webrtc-teleop-frontend
 	url = ../opentera-webrtc-teleop-frontend.git
+[submodule "opentera_protobuf_messages/opentera_messages"]
+	path = opentera_protobuf_messages/opentera_messages
+	url = https://github.com/introlab/opentera_messages.git
diff --git a/README.md b/README.md
@@ -19,6 +19,9 @@ The procedure is written for Ubuntu 20.04 using ROS noetic. We assume ROS is alr
 # opentera-webrtc-ros packages
 sudo apt-get install nodejs ros-noetic-turtlebot3 ros-noetic-turtlebot3-gazebo 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
 
@@ -30,6 +33,9 @@ sudo apt-get install build-essential gfortran texinfo libasound2-dev
 
 # odas_ros packages
 sudo apt-get install libfftw3-dev libconfig-dev libasound2-dev pulseaudio libpulse-dev
+
+# opentera-webrtc Python packages
+python3 -m pip install -r opentera_webrtc_ros/opentera-webrtc/requirements.txt
 ```
 
 # Installation

diff --git a/map_image_generator/launch/map_image_generator.launch b/map_image_generator/launch/map_image_generator.launch
@@ -13,6 +13,7 @@
     <arg name="output_map_image_labels_topic" default="/map_image_generator/labels"/>
 
     <arg name="rtabmap_list_label_service" default="/rtabmap/list_labels"/>
+    <arg name="output" default="log"/>
 
     <arg name="refresh_rate_param" default="1.0"/>
     <arg name="resolution_param" default="40"/>
@@ -30,7 +31,7 @@
     <arg name="robot_vertical_offset" default="180"/>
 
 
-    <node name="map_image_generator" pkg="map_image_generator" type="map_image_generator" respawn="true" output="screen">
+    <node name="map_image_generator" pkg="map_image_generator" type="map_image_generator" respawn="true" output="$(arg output)">
         <remap from="occupancy_grid" to="$(arg input_occupancy_grid_topic)"/>
         <remap from="global_path" to="$(arg input_global_path_topic)"/>
         <remap from="input_goal" to="$(arg input_goal_topic)"/>

diff --git a/opentera_client_ros/CMakeLists.txt b/opentera_client_ros/CMakeLists.txt
@@ -14,6 +14,7 @@ find_package(catkin REQUIRED COMPONENTS
     std_msgs
     message_runtime
     opentera_webrtc_ros_msgs
+    opentera_protobuf_messages
 )
 
 ## System dependencies are found with CMake's conventions

diff --git a/opentera_client_ros/launch/client.launch b/opentera_client_ros/launch/client.launch
@@ -1,8 +1,10 @@
 <launch>
     <arg name="opentera_client_config_file" default="$(find opentera_client_ros)/config/client_config.json"/>
 
+    <arg name="output" default="log"/>
+
     <!-- OpenTera ROS Client -->
-    <node pkg="opentera_client_ros" type="opentera_client_ros.py" name="opentera_client" respawn="true">
+    <node pkg="opentera_client_ros" type="opentera_client_ros.py" name="opentera_client" respawn="true" output="$(arg output)">
         <param name="config_file" type="string" value="$(arg opentera_client_config_file)"/>
     </node>
 </launch>
diff --git a/opentera_client_ros/package.xml b/opentera_client_ros/package.xml
@@ -53,12 +53,15 @@
     <build_depend>rospy</build_depend>
     <build_depend>std_msgs</build_depend>
     <build_depend>opentera_webrtc_ros_msgs</build_depend>
+    <build_depend>opentera_protobuf_messages</build_depend>
     <build_export_depend>rospy</build_export_depend>
     <build_export_depend>std_msgs</build_export_depend>
     <build_export_depend>opentera_webrtc_ros_msgs</build_export_depend>
+    <build_export_depend>opentera_protobuf_messages</build_export_depend>
     <exec_depend>rospy</exec_depend>
     <exec_depend>std_msgs</exec_depend>
     <exec_depend>opentera_webrtc_ros_msgs</exec_depend>
+    <exec_depend>opentera_protobuf_messages</exec_depend>
 
     <!-- The export tag contains other, unspecified, tags -->
     <export>

diff --git a/opentera_client_ros/requirements.txt b/opentera_client_ros/requirements.txt
@@ -1,3 +1,2 @@
-opentera==1.0.8
 aiohttp
 asyncio
diff --git a/opentera_client_ros/scripts/opentera_client_ros.py b/opentera_client_ros/scripts/opentera_client_ros.py
@@ -7,6 +7,7 @@
 import json
 import os
 from signal import SIGINT, SIGTERM
+from pathlib import Path
 
 # ROS
 import rospy
@@ -24,7 +25,7 @@
 from opentera_webrtc_ros_msgs.msg import RobotStatus
 
 # OpenTera
-import opentera.messages.python as messages
+import opentera_protobuf_messages as messages
 from google.protobuf.json_format import ParseDict, ParseError
 from google.protobuf.json_format import MessageToJson
 
@@ -156,6 +157,7 @@ async def _parse_message(self, client: aiohttp.ClientSession, msg_dict: dict):
                         event.device_name = device_event.device_name
                         event.device_status = device_event.device_status
                         opentera_events.device_events.append(event)
+                        continue
 
                     # Test for JoinSessionEvent
                     join_session_event = messages.JoinSessionEvent()
@@ -172,6 +174,7 @@ async def _parse_message(self, client: aiohttp.ClientSession, msg_dict: dict):
                         event.session_parameters = join_session_event.session_parameters
                         event.service_uuid = join_session_event.service_uuid
                         opentera_events.join_session_events.append(event)
+                        continue
 
                     # Test for ParticipantEvent
                     participant_event = messages.ParticipantEvent()
@@ -184,6 +187,7 @@ async def _parse_message(self, client: aiohttp.ClientSession, msg_dict: dict):
                         event.participant_project_name = participant_event.participant_project_name
                         event.participant_site_name = participant_event.participant_site_name
                         opentera_events.participant_events.append(event)
+                        continue
 
                     # Test for StopSessionEvent
                     stop_session_event = messages.StopSessionEvent()
@@ -193,6 +197,7 @@ async def _parse_message(self, client: aiohttp.ClientSession, msg_dict: dict):
                         event.session_uuid = stop_session_event.session_uuid
                         event.service_uuid = stop_session_event.service_uuid
                         opentera_events.stop_session_events.append(event)
+                        continue
 
                     # Test for UserEvent
                     user_event = messages.UserEvent()
@@ -203,6 +208,7 @@ async def _parse_message(self, client: aiohttp.ClientSession, msg_dict: dict):
                         event.type = user_event.type
                         event.user_fullname = user_event.user_fullname
                         opentera_events.user_events.append(event)
+                        continue
 
                     # Test for LeaveSessionEvent
                     leave_session_event = messages.LeaveSessionEvent()
@@ -215,6 +221,7 @@ async def _parse_message(self, client: aiohttp.ClientSession, msg_dict: dict):
                         event.leaving_users = leave_session_event.leaving_users
                         event.leaving_devices = leave_session_event.leaving_devices
                         opentera_events.leave_session_events.append(event)
+                        continue
 
                     # Test for JoinSessionReply
                     join_session_reply = messages.JoinSessionReplyEvent()
@@ -228,8 +235,10 @@ async def _parse_message(self, client: aiohttp.ClientSession, msg_dict: dict):
                         event.join_reply = join_session_reply.join_reply
                         event.reply_msg = join_session_reply.reply_msg
                         opentera_events.join_session_reply_events.append(event)
+                        continue
 
                     # TODO Handle other events if required.
+                    rospy.logerr(f"Unknown message type: {any_msg}")
 
                 self.__event_publisher.publish(opentera_events)
 
@@ -246,11 +255,12 @@ async def _parse_message(self, client: aiohttp.ClientSession, msg_dict: dict):
     # Guessing config file path
     base_folder = os.path.dirname(os.path.abspath(__file__))
     config_path = os.path.join(base_folder, '../config/client_config.json')
-    config_file_name = rospy.get_param('~config_file', config_path)
+    config_file_name = Path(rospy.get_param(
+        '~config_file', config_path)).expanduser().resolve()
 
     # Read config file
     # Should be a param for this node
-    with open(config_file_name) as json_file:
+    with config_file_name.open() as json_file:
         data = json.load(json_file)
         if 'url' in data and 'client_token' in data:
             url = data['url']

diff --git a/opentera_protobuf_messages/.gitignore b/opentera_protobuf_messages/.gitignore
@@ -0,0 +1,2 @@
+src/opentera_protobuf_messages/__init__.py
+src/opentera_protobuf_messages/*_pb2.py
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		src/opentera_protobuf_messages/__init__.py
		src/opentera_protobuf_messages/*_pb2.py