opentera-teleop-service

OpenTera Service handling teleoperation sessions based on webrtc.

Setup Service

# Clone GitHub repository with submodules
git clone https://github.com/introlab/opentera-teleop-service.git --recurse-submodule

# Go to opentera-teleop-service directory
cd opentera-teleop-service directory

Setup Virtual Environment with Python venv

# Create a virtual environment
python3 -m venv venv
# Enable venv
source venv/bin/activate
# Install requirements (service)
pip install -r requirements.txt
# Install requirements (signaling-server, opentera)
pip install -r submodules/opentera-webrtc-teleop-frontend/teleop-vue/submodules/opentera-webrtc/requirements.txt
pip install -r submodules/opentera-webrtc-teleop-frontend/teleop-vue/submodules/opentera-webrtc/signaling-server/requirements.txt

OR Setup Virtual Environment with conda

./create_conda_venv.sh

Build Service with CMake

Modify setup according to your configuration

vi webportal/.env.production

This command will compile opentera-webrtc python library, build webportal and teleop-frontend

mkdir build
cd build
cmake ../
make

# Create a symlink to the index in the static directory
cd ../static
ln -s ../webportal/dist/index.html index.html

OpenTera Server Configuration

Make sure the RobotTeleOperationService is activated in the OpenTera Server.

Port: 4080
URL : /
External URL: /robot

Make sure you have a 'Robot' Device Type and robot sub types : BEAM, T-TOP, MOVO

Add a new session type named 'Teleop-Robot'

Add robots to your fleet

Add Devices with Type 'Robot' and the desired subtype.

Example Service configuration

Create a file named /lib/systemd/system/opentera-teleop.service containing :

[Unit]
Description=OpenTeraTeleopService
After=opentera.service
Requires=opentera.service
PartOf=opentera.service

[Service]
User={user name}
Group={group name}
Environment=PYTHONPATH={YOUR_PATH_HERE}/opentera-teleop-service.git
ExecStart={YOUR_PATH_HERE}/opentera-teleop-service.git/venv/bin/python3 {YOUR_PATH_HERE}/opentera-teleop-service.git/TeleopService.py
WorkingDirectory={YOUR_PATH_HERE}/opentera-teleop-service.git
StandardOutput=syslog+console
StandardError=syslog+console
Restart=always
RestartSec=10s
KillMode=process
KillSignal=SIGINT

[Install]
WantedBy=multi-user.target opentera.service