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* Fix readme files

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* Refs introlab#52, Added documentation

* Refs introlab#52, Added documentation

* Refs introlab#52, Added documentation

* Refs introlab#52, Added documentation

* Refs introlab#52, Added documentation

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* Refs introlab#52, Fixed documentation warnings and comments

Co-authored-by: Dominic Létourneau <[email protected]>
Co-authored-by: Dominic Létourneau <[email protected]>
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201 changes: 201 additions & 0 deletions LICENSE
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109 changes: 65 additions & 44 deletions README.md
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# opentera-webrtc-ros

Based on [opentera-webrtc](https://github.com/introlab/opentera-webrtc).
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](https://github.com/introlab/opentera-webrtc). Wrappers are written in C++ and Python and are compatible with ROS1 (Noetic) at the moment. We use the [signaling server](https://github.com/introlab/opentera-webrtc/tree/main/signaling-server) implementation provided by opentera-webrtc.

Here are the key features:

* [ROS Messages](opentera_webrtc_ros_msgs) adding compatibility with ROS and [OpenTera protobuf protocol](https://github.com/introlab/opentera_messages) used in[opentera-teleop-service](https://github.com/introlab/opentera-teleop-service).

* [ROS Streaming nodes](opentera_webrtc_ros/README.md) capable of sending / receiving audio, video and data from WebRTC streams.

* Teleoperation with a [opentera-webrtc-teleop-frontend](https://github.com/introlab/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](https://github.com/RobotWebTools/rosbridge_suite) in the future.

* Map-based 2D/3D teleoperation using [RTAB-Map ROS](https://github.com/introlab/rtabmap_ros). Generated floor maps are streamed like a 2D image for simplicity at the moment by the [map_image_generator](map_image_generator) node.

* Sound Source Localization / Tracking / Separation using [ODAS ROS](https://github.com/introlab/odas_ros).

* [Stand alone demonstrations](opentera_webrtc_demos/README.md) with simulated robot in gazebo.

* [Robot side front-end (Qt)](opentera_webrtc_robot_gui/README.md) to display call information and remote user interaction.

* [OpenTera client](opentera_client_ros/README.md) 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](https://github.com/introlab/opentera-teleop-service) project.

> Note: This project is under developement. Any contribution or suggestion is welcome. Please use GitHub's [Issues](https://github.com/introlab/opentera-webrtc-ros/issues) system for questions or bug reports.
## License

# License
By default, libwebrtc is built with non-free codecs. See [opentera-webrtc](https://github.com/introlab/opentera-webrtc#license) to build without them.

# Authors
The project is licensed with:

* [Apache License, Version 2.0](LICENSE)

- Cédric Godin (@godced)
- Marc-Antoine Maheux (@mamaheux)
- Dominic Létourneau (@doumdi)
- Gabriel Lauzier (@G-Lauz)
- Jérémie Bourque (@JeremieBourque1)
- Philippe Warren (@philippewarren)
## Authors

# Requirements
* Cédric Godin (@godced)
* Marc-Antoine Maheux (@mamaheux)
* Dominic Létourneau (@doumdi)
* Gabriel Lauzier (@G-Lauz)
* Jérémie Bourque (@JeremieBourque1)
* Philippe Warren (@philippewarren)

## 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](http://wiki.ros.org/noetic/Installation/Ubuntu) first. The following packages must also be installed :

```bash
# 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
$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
$sudo apt-get install libprotobuf-dev protobuf-compiler python3-protobuf

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

# nodejs dependencies
sudo apt-get install nodejs npm
$sudo apt-get install nodejs npm

# audio_utils packages
sudo apt-get install build-essential gfortran texinfo libasound2-dev
$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 libasound2-dev pulseaudio libpulse-dev
$sudo apt-get install libfftw3-dev libconfig-dev
```

# Installation
## Installation

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

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

## 2 - Get all the required ROS packages
### 2 - Get all the required ROS packages

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

## 3 - Install the Python requirements
### 3 - Install the Python requirements

```bash
$ 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
$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
### 4 - Build all the ROS packages

```bash
$ cd ~/teleop_ws
$ source devel/setup.bash
$ catkin_make
$cd ~/teleop_ws
$source devel/setup.bash
$catkin_make
```

# Running the demos
## Running the demos

Please see the [opentera_webrtc_demos package.](opentera_webrtc_demos/README.md)

# License

- [Apache License, Version 2.0](LICENSE)

# Sponsor
## Sponsor

![IntRoLab](images/IntRoLab.png)

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TO BE DOCUMENTED
# opentera_client_ros

[A simple Python client](scripts/opentera_client_ros.py) connecting to the OpenTera server able to receive calls. This client works with the [opentera-teleop-service](https://github.com/introlab/opentera-teleop-service) and reacts to the following events:

* DeviceEvent : Device online/offline event
* JoinSessionEvent : Join session information event
* ParticipantEvent : Participant online/offline event
* StopSessionEvent : Stop session information event
* UserEvent : User online/offline event
* LeaveSessionEvent : User/Device/Participant leave session event
* JoinSessionReplyEvent : JoinSession acceptance event

Calls are initiated with the [opentera-teleop-service webportal](https://github.com/introlab/opentera-teleop-service/tree/main/webportal).

## Configuration

A robot device must be created on the OpenTera server and the token must be copied in the [configuration file](config/client_config.json) in the following format :

```json
{
"client_token": "JWT token generated from the OpenTera server",
"url": "enter url here like https://server:port"
}
```
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