Integrating rosbridge and WebRTC for Optimal Teleoperation and Data Streaming

[oguzkaganozt]

Motivation

There is currently no efficient or optimal solution within the Autoware project for integrating remote teleoperation and real-time data streaming using web technologies. By combining rosbridge with WebRTC, we aim to fill this gap, enabling real-time monitoring, control, and data visualization from a web interface. This integration will enhance the user experience and operational capabilities of the Autoware system

Related Discussions

• https://github.com/orgs/autowarefoundation/discussions/2742
• https://github.com/orgs/autowarefoundation/discussions/2545
• feat(tier4_autoware_api_launch): add rosbridge autoware.universe#779
• https://github.com/orgs/autowarefoundation/discussions/2664

Possible Approach

• Utilize Robot WEB Tools for integrating websockets support
• Use websockets for control and signaling support for data streaming
• Use WebRTC for real-time streaming
• Utilize rosbridge server as server
• Provide a complete docker image solution

Sources and Reference projects

• https://github.com/RobotWebTools/rosbridge_suite
• https://github.com/foxglove/ros-foxglove-bridge
• https://github.com/pgaston/teleopros2
• https://github.com/abizovnuralem/go2_ros2_sdk
• https://github.com/jdgalviss/jetbot-ros2/tree/main
• https://github.com/introlab/opentera-webrtc & https://github.com/introlab/opentera-webrtc-ros
• https://github.com/v-kiniv/rws

[mitsudome-r]

FYI: there were similar discussion made in the past. https://github.com/orgs/autowarefoundation/discussions/2742

[mitsudome-r]

Here's the link to the techblog by TIER IV https://tech.tier4.jp/entry/2019/01/22/170032. It's a bit old and it's in Japanese though.

[evshary]

For what it is worth, perhaps I can share how we use Zenoh to achieve similar results.
We created a Fleet Management System prototype for Autoware before with the help of Zenoh.
https://github.com/orgs/autowarefoundation/discussions/4780
In short, we use zenoh-bridge-ros2dds to forward data to another side and then receive the data with a webserver. The server can manage multiple Autoware at the same time.

Let me know if you have any question or want to know more detail.