Opentera WebRTC ROS Nodes Usage

Installation

The following ROS packages are required:

• roscpp
• cv_bridge
• std_msgs
• sensor_msgs

Also add the following repository in the catkin workspace src directory:

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

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

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

Advertises

• webrtc_image : opentera_webrtc_ros::PeerImage
• webrtc_audio : opentera_webrtc_ros::PeerAudio

Default Parameters

<rosparam param="is_stand_alone">true</rosparam>
<rosparam param="stream">
  {
    can_send_stream: true,        # Does the node can send stream to the signaling server
    can_receive_stream: true,     # Does the node can receive stream to the signaling server
    is_screen_cast: false,        # Is the image source a screen capture?
    needs_denoising: false        # Does the image source needs denoising?
  }
</rosparam>
<rosparam param="signaling">
  {
    server_url: "http://localhost:8080",    # Signaling server URL
    client_name: "streamer",                # Peer name as which to join the room
    room_name: "chat",                      # Room name to join
    room_password: "abc"                    # Room password
  }
</rosparam>

For usage exemple look at ros_stream_client.launch.

RosDataChannelBridge

Description

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

• ros_data : std_msgs::String

Advertises

• webrtc_data : opentera_webrtc_ros_msgs::PeerData

Default Parameters

<rosparam param="is_stand_alone" >true</rosparam>
<rosparam param="signaling">
  {
    server_url: "http://localhost:8080",    # Signaling server URL
    client_name: "data_bridge",             # Peer name as which to join the room
    room_name: "chat",                      # Room name to join
    room_password: "abc"                    # Room password
  }
</rosparam>

For usage exemple look at ros_data_channel_client.launch.

RosJsonDataHandler

Decription

Implement a ROS node that dispatch received JSON messages and forward them on the rights topics.

Subscribes

• webrtc_data : opentera_webrtc_ros_msgs::PeerData

Advertises

• cmd_vel : geometry_msgs::Twist

JSON Format (TODO)

For usage exemple look at ros_json_data_handler.launch.