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opentera_webrtc_ros package from opentera-webrtc-ros repo

face_cropping map_image_generator opentera_client_ros opentera_protobuf_messages opentera_webrtc_demos opentera_webrtc_robot_gui opentera_webrtc_ros opentera_webrtc_ros_msgs turtlebot3_beam_description

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Package Summary

Version	0.1.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS package for OpenTera WebRTC signaling server.
Checkout URI	https://github.com/introlab/opentera-webrtc-ros.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-02-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Provides Nodes to join a WebRTC call from ROS

Additional Links

Repository

Maintainers

Dominic Létourneau

Authors

Cédric Godin

opentera_webrtc_ros/README.md

opentera_webrtc_ros

Installation

The following ROS packages are required:

roscpp
cv_bridge
std_msgs
sensor_msgs
audio_utils

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

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	nav2_msgs
	geometry_msgs
	visualization_msgs
	cv_camera
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclpy
	std_msgs
	std_srvs
	sensor_msgs
	audio_utils_msgs
	opentera_webrtc_ros_msgs
	map_image_generator
	cv_bridge

System Dependencies

Name
python-transforms3d-pip

Dependant Packages

Name	Deps
opentera_webrtc_demos

Launch files

launch/opentera_data_test.launch.xml
- - name [default: data_channel_bridge]
  - is_stand_alone [default: false]
  - server_url [default: http://localhost:8080]
  - client_name [default: streamer]
  - room_name [default: data]
  - room_password [default: password]
launch/ros_data_channel_client.launch.xml
- - name [default: data_channel_bridge]
  - is_stand_alone [default: true]
  - server_url [default: http://localhost:8080]
  - client_name [default: data_streamer]
  - room_name [default: chat]
  - room_password [default: abc]
  - verify_ssl [default: true]
  - input_topic [default: webrtc_data_outgoing]
  - output_topic [default: webrtc_data_incoming]
launch/ros_json_data_handler.launch.xml
- - name [default: json_data_handler]
  - input_topic [default: webrtc_data]
  - linear_multiplier [default: 1]
  - angular_multiplier [default: 1]
  - cmd_vel_topic [default: cmd_vel]
launch/ros_stream_client.launch.xml
- - name [default: topic_streamer]
  - is_stand_alone [default: true]
  - video_queue_size [default: 1]
  - audio_queue_size [default: 1]
  - can_send_video_stream [default: false]
  - can_receive_video_stream [default: false]
  - is_screen_cast [default: false]
  - needs_denoising [default: false]
  - forced_video_codecs [default: ['']]
  - force_gstreamer_video_hardware_acceleration [default: false]
  - use_gstreamer_video_software_encoder_decoder [default: false]
  - can_send_audio_stream [default: false]
  - can_receive_audio_stream [default: false]
  - sound_card_total_delay_ms [default: 40]
  - echo_cancellation [default: true]
  - auto_gain_control [default: true]
  - noise_suppression [default: true]
  - high_pass_filter [default: false]
  - stereo_swapping [default: false]
  - transient_suppression [default: true]
  - server_url [default: http://localhost:8080]
  - client_name [default: streamer]
  - room_name [default: chat]
  - room_password [default: abc]
  - verify_ssl [default: true]
  - input_camera_topic [default: ros_image]
  - output_webrtc_image_topic [default: webrtc_image]
  - input_audio_topic [default: audio_in]
  - output_audio_mixed_topic [default: audio_mixed]
  - output_webrtc_audio_topic [default: webrtc_audio]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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