https://github.com/husarion/rosbot-telepresence
Real-Time Internet Control and Video Streaming with ROSbot 2R / 2 PRO
https://github.com/husarion/rosbot-telepresence
dds foxglove ros2 telepresence-robot
Last synced: 23 days ago
JSON representation
Real-Time Internet Control and Video Streaming with ROSbot 2R / 2 PRO
- Host: GitHub
- URL: https://github.com/husarion/rosbot-telepresence
- Owner: husarion
- License: apache-2.0
- Created: 2023-02-14T16:26:51.000Z (about 3 years ago)
- Default Branch: ros2router
- Last Pushed: 2024-03-04T16:53:43.000Z (about 2 years ago)
- Last Synced: 2024-03-04T18:31:03.677Z (about 2 years ago)
- Topics: dds, foxglove, ros2, telepresence-robot
- Language: Just
- Homepage:
- Size: 2.18 MB
- Stars: 8
- Watchers: 2
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# rosbot-telepresence
Manual ROSbot Driving over the Internet with Real-Time Camera Feed
> [!NOTE]
> There are two setups on two separate branches available
> | branch name | description |
> | - | - |
> | [**ros2router**](https://github.com/husarion/rosbot-telepresence/tree/ros2router) (the current one)| Running ROS 2 containers on ROSbot and on PC with the interface in RViz |
> | [**foxglove**](https://github.com/husarion/rosbot-telepresence/tree/foxglove) | Running ROS 2 containers only on ROSbot with a web user interface powered by Foxglove |
## 🛍️ Necessary Hardware
For the execution of this project **[ROSbot 2R or ROSbot 2 PRO](https://husarion.com/manuals/rosbot/)** is required.
You can find it at [our online store](https://store.husarion.com/collections/robots/products/rosbot).
## Quick start
> [!NOTE]
> To simplify the execution of this project, we are utilizing [just](https://github.com/casey/just).
>
> Install it with:
>
> ```bash
> curl --proto '=https' --tlsv1.2 -sSf https://just.systems/install.sh | sudo bash -s -- --to /usr/bin
> ```
To see all available commands just run `just`:
```bash
husarion@rosbot2r:~/rosbot-telepresence$ just
Available recipes:
connect-husarnet joincode hostname # connect to Husarnet VPN network
flash-firmware # flash the proper firmware for STM32 microcontroller in ROSbot 2R / 2 PRO
start-rosbot # start containers on ROSbot 2R / 2 PRO
start-pc # start containers on PC
run-teleop # run teleop_twist_keybaord (host)
run-teleop-docker # run teleop_twist_keybaord (inside rviz2 container)
run-joy # enable the F710 gemapad (connected to your PC) to control ROSbot
sync hostname="${ROBOT_NAMESPACE}" password="husarion" # copy repo content to remote host with 'rsync' and watch for changes
```
### 🌎 Step 1: Connecting ROSbot and Laptop over VPN
Ensure that both ROSbot 2R (or ROSbot 2 PRO) and your laptop are linked to the same Husarnet VPN network. If they are not follow these steps:
1. Setup a free account at [app.husarnet.com](https://app.husarnet.com/), create a new Husarnet network, click the **[Add element]** button and copy the code from the **Join Code** tab.
2. Run in the linux terminal on your PC:
```bash
cd rosbot-telepresence/ # remember to run all "just" commands in the repo root folder
export JOINCODE=
just connect-husarnet $JOINCODE my-laptop
```
3. Run in the linux terminal of your ROSbot:
```bash
export JOINCODE=
sudo husarnet join $JOINCODE rosbot2r
```
> [!NOTE]
> That `rosbot2r` is a default ROSbot hostname used in this project. If you want to change it, edit the `.env` file and change
>
> ```bash
> ROBOT_NAMESPACE=rosbot2r
> ```
### 📡 Step 2: Sync
Copy the local changes (on PC) to the remote ROSbot
```bash
just sync
```
> [!NOTE]
> This `just sync` automatically sync to device described by `ROBOT_NAMESPACE` inside `.env` file. Script locks the terminal and synchronizes online all changes made locally on the robot.
### 💻 Step 3: Launching the Control Interface on PC
At first start the ROS 2 Router and RViz:
```bash
just start-pc
```
And run `teleop_twist_keyboard` directly on the host OS or in Docker (choose one option):
```bash
just run-teleop-docker
# or
# just run-teleop
```
### 🤖 Step 4: Launching the Containers on ROSbot
> Execute the commands below in the ROSbot's shell (you can access it with `ssh husarion@rosbot2r`)
Inside `rosbot-telepresence` run below command to flash the right version of the firmware:
```bash
just flash-firmware
```
And run the containers
```bash
just start-rosbot
```
## Useful tips
### 1. Using Logitech F710 gamepad
Rather than employing the `teleop_twist_keyboard` ROS 2 package, you have the option to use the Logitech F710 gamepad. To utilize it, plug it into your PC's USB port and launch the `joy2twist` container on your PC:
```bash
just run-joy
```
### 2. Checking a datarate
To assess the data rate of a video stream being transmitted over the Husarnet VPN (which appears in your OS as the `hnet0` network interface), execute the following:
```bash
husarion@rosbot:~$ ifstat -i hnet0
wlan0
KB/s in KB/s out
6.83 2744.66
1.67 2659.88
1.02 2748.40
```
### 3. Sending uncompressed video frames over the network
If raw image data is being transmitted over the network, you need to perform some [DDS-tunning](https://docs.ros.org/en/humble/How-To-Guides/DDS-tuning.html) (both on ROSbot and PC):
For configs in LAN:
```bash
sudo sysctl -w net.ipv4.ipfrag_time=3 # 3s
sudo sysctl -w net.ipv4.ipfrag_high_thresh=134217728 # (128 MB)
```
For configs over VPN:
```bash
sudo sysctl -w net.ipv6.ip6frag_time=3 # 3s
sudo sysctl -w net.ipv6.ip6frag_high_thresh=134217728 # (128 MB)
```
## Troubleshooting
### `Packet was not a Theora header` warning
The log from your computer where you launched `compose.pc.yaml` may contain the following message:
```bash
[WARN] [1704479601.591809892] [rviz]: [theora] Packet was not a Theora header
```
Due to an issue in the theora codec, headers are probably sent only at the start. If you've initiated `compose.pc.yaml` following `compose.yaml`, it's essential to restart the `astra` service on ROSbot.
To do so, execute in the ROSbot's terminal in the `/home/husarion/rosbot-telepresence` folder the following line:
```bash
docker compose restart astra
```