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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) diff --git a/opentera_client_ros/README.md b/opentera_client_ros/README.md index 1c0e722..26e9bdf 100644 --- a/opentera_client_ros/README.md +++ b/opentera_client_ros/README.md @@ -1 +1,24 @@ -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" +} +``` diff --git a/opentera_webrtc_demos/README.md b/opentera_webrtc_demos/README.md index bcd93ec..abee0b5 100644 --- a/opentera_webrtc_demos/README.md +++ b/opentera_webrtc_demos/README.md @@ -8,7 +8,7 @@ $ source ~/teleop_ws/devel/setup.bash # Needed for simulation $ export TURTLEBOT3_MODEL=waffle # Run the demo -$ roslaunch opentera_webrtc_demos demo.launch +$ roslaunch opentera_webrtc_demos demo.launch is_stand_alone:=true ``` To launch the stand alone demo with ODAS functionnality, you will need the [ReSpeaker 4-mic array](https://respeaker.io/usb_4_mic_array/) plugged-in your computer: @@ -18,7 +18,7 @@ $ source ~/teleop_ws/devel/setup.bash # Needed for simulation $ export TURTLEBOT3_MODEL=waffle # Run the demo -$ roslaunch opentera_webrtc_demos demo_odas.launch +$ roslaunch opentera_webrtc_demos demo_odas.launch is_stand_alone:=true ``` Once launched go to the following URL : diff --git a/opentera_webrtc_robot_gui/README.md b/opentera_webrtc_robot_gui/README.md new file mode 100644 index 0000000..2a371ff --- /dev/null +++ b/opentera_webrtc_robot_gui/README.md @@ -0,0 +1,7 @@ +# opentera_webrtc_robot_gui + +## Description + +The GUI is written with Qt 5.12+ and displays stream information (ROS images) from the WebRTC connection. It will utimately be used to display internal robot state, control the microphone and camera usage and enable calling from the robot's side. At the moment, calls are initiated from the web with [opentera-webrtc-teleop-frontend](https://github.com/introlab/opentera-webrtc-teleop-frontend) and sessions are automatically joined. + +> The GUI is unfinished at the moment but usable to display basic video streams. diff --git a/opentera_webrtc_ros/README.md b/opentera_webrtc_ros/README.md index 4a440ea..ee6ce2c 100644 --- a/opentera_webrtc_ros/README.md +++ b/opentera_webrtc_ros/README.md @@ -1,4 +1,6 @@ -# Installation +# opentera_webrtc_ros + +## Installation The following ROS packages are required: @@ -6,157 +8,137 @@ The following ROS packages are required: - cv_bridge - std_msgs - sensor_msgs +- [audio_utils](https://github.com/introlab/audio_utils) -Also add the following [repository](https://github.com/introlab/audio_utils) in the catkin workspace src directory: - -```bash -git clone https://github.com/introlab/audio_utils.git --recurse-submodules -``` - -See https://github.com/introlab/audio_utils for more informations about the dependency and his usage; - -# Clone the repository with the submodules in the catkin workspace src directory - -```bash -git clone https://github.com/introlab/opentera-webrtc-ros.git --recurse-submodules -``` - -# TODO - -Complete the following documentation. - -Finally the OpenTera WebRTC native client and its dependencies must have been built with same build type, Debug or -Release as the desired build output. - -# RosStreamBridge +## RosStreamBridge -## Description +### 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 +#### Subscribes - ros_image : `sensor_msgs::Image` - audio_in : `audio_utils::AudioFrame` -### Advertises +#### Advertises - webrtc_image : `opentera_webrtc_ros::PeerImage` - webrtc_audio : `opentera_webrtc_ros::PeerAudio` - audio_mixed : `audio_utils::AudioFrame` -## Default Parameters +#### Default Parameters ```xml true { - can_send_audio_stream: true, # Does the node can send audio stream to the signaling server - can_receive_audio_stream: true, # Does the node can receive audio stream from the signaling server - can_send_video_stream: true, # Does the node can send video stream to the signaling server - can_receive_video_stream: true, # Does the node can receive video stream from the signaling server + can_send_audio_stream: true, # Send audio stream to the signaling server + can_receive_audio_stream: true, # Receive audio stream from the signaling server + can_send_video_stream: true, # Send video stream to the signaling server + can_receive_video_stream: true, # Receive video stream from the signaling server is_screen_cast: false, # Is the image source a screen capture? needs_denoising: false # Does the image source needs denoising? } { - server_url: "http://localhost:8080", # Signaling server URL + server_url: "http://localhost:8080", # Signaling server URL used in stand_alone mode client_name: "streamer", # Peer name as which to join the room room_name: "chat", # Room name to join - room_password: "abc" # Room password + room_password: "abc" # Room password used in stand alone mode } ``` For usage exemple look at [ros_stream_client.launch](launch/ros_stream_client.launch). -# RosDataChannelBridge +## RosDataChannelBridge -## Description +### 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 +#### Subscribes (RosDataChannelBridge) - ros_data : `std_msgs::String` -### Advertises +#### Advertises (RosDataChannelBridge) - webrtc_data : `opentera_webrtc_ros_msgs::PeerData` -## Default Parameters +#### Default Parameters (RosDataChannelBridge) ```xml true { - server_url: "http://localhost:8080", # Signaling server URL + server_url: "http://localhost:8080", # Signaling server URL used in stand_alone mode client_name: "data_bridge", # Peer name as which to join the room room_name: "chat", # Room name to join - room_password: "abc" # Room password + room_password: "abc" # Room password used in stand_alone mode } ``` For usage exemple look at [ros_data_channel_client.launch](launch/ros_data_channel_client.launch). -# RosJsonDataHandler +## RosJsonDataHandler -## Decription +### Decription (RosJsonDataHandler) Implement a ROS node that dispatch received JSON messages and forward them on the rights topics. -### Subscribes +#### Subscribes (RosJsonDataHandler) - webrtc_data : `opentera_webrtc_ros_msgs::PeerData` -### Advertises +#### Advertises (RosJsonDataHandler) - cmd_vel : `geometry_msgs::Twist` -## JSON Format (TODO) +#### JSON Format (RosJsonDataHandler) For usage exemple look at [ros_json_data_handler.launch](launch/ros_json_data_handler.launch). -# libnavigation +## libnavigation -## Description +### Description (libnavigation) Shared library for `goal_manager` and `label_manager` to send navigation commands to `move_base` as well as navigation waypoints to `map_image_generator`. The library is embedded in both nodes, a single instance is not shared. -## Subscribed topics +#### Subscribed topics (libnavigation) - stop (`std_msgs/Bool`): Signal to cancel all move_base goals. -## Published topics +#### 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 +## goal_manager -## Description +### 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 +#### 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 +#### Published topics (goal_manager) - All published topics of `libnavigation` -# labels_manager +## labels_manager -## Description +### 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. @@ -164,7 +146,7 @@ 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 `move_base` by its name. -## Subscribed topics +#### 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 @@ -172,7 +154,7 @@ This node can also send a label as a goal to `move_base` by its name. - navigate_to_label (`std_msgs/String`): Navigate to a label by its name - All subscribed topics of `libnavigation` -## Published topics +#### 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. diff --git a/opentera_webrtc_ros/launch/ros_stream_client.launch b/opentera_webrtc_ros/launch/ros_stream_client.launch index 9d576a0..db3c09a 100644 --- a/opentera_webrtc_ros/launch/ros_stream_client.launch +++ b/opentera_webrtc_ros/launch/ros_stream_client.launch @@ -43,16 +43,16 @@ $(arg is_stand_alone) { - can_send_video_stream: $(arg can_send_video_stream), # Is the node can send video stream to the signaling server - can_receive_video_stream: $(arg can_receive_video_stream), # Is the node can receive video stream from the signaling server + can_send_video_stream: $(arg can_send_video_stream), # Can send video stream to the signaling server + can_receive_video_stream: $(arg can_receive_video_stream), # Can receive video stream from the signaling server is_screen_cast: $(arg is_screen_cast), # Is the image source a screen capture? needs_denoising: $(arg needs_denoising) # Does the image source needs denoising? } { - can_send_audio_stream: $(arg can_send_audio_stream), # Is the node can send audio stream to the signaling server - can_receive_audio_stream: $(arg can_receive_audio_stream), # Is the node can receive audio stream from the signaling server + can_send_audio_stream: $(arg can_send_audio_stream), # Can send audio stream to the signaling server + can_receive_audio_stream: $(arg can_receive_audio_stream), # Can receive audio stream from the signaling server sound_card_total_delay_ms: $(arg sound_card_total_delay_ms), echo_cancellation: $(arg echo_cancellation), auto_gain_control: $(arg auto_gain_control), @@ -67,10 +67,10 @@ { - server_url: "$(arg server_url)", # Signaling server URL + server_url: "$(arg server_url)", # Signaling server URL used in stand_alone mode only client_name: $(arg client_name), # Peer name as which to join the room room_name: $(arg room_name), # Room name to join - room_password: $(arg room_password), # Room password + room_password: $(arg room_password), # Room password used in stand_alone_mode only verify_ssl: $(arg verify_ssl) # SSL peer verification }