A platform for remote operation of robots using WebRTC for low-latency video streaming and command transmission, bridging web clients with ROS 2 systems.

This project implements a robotics teleoperation system with two main components:

1. ROS 2 Workspace (ros2_ws): Contains the ros_gateway node, which acts as a bridge between the ROS 2 ecosystem (topics, services, actions) and the controller. It handles message serialization/deserialization and communication. Includes supporting packages like open_teleop_logger.
2. Go Controller (controller): Manages communication with web clients (likely via WebSockets or WebRTC data channels, TBD), handles signaling, processes commands, routes data via ZeroMQ, and orchestrates the teleoperation session.

open-teleop/
├── ros2_ws/                # Container A: ROS2 workspace
│   ├── src/
│   │   ├── video_streaming_bridge/
│   │   ├── audio_streaming_bridge/
│   │   ├── sensor_bridge/
│   │   ├── navigation_bridge/
│   │   └── teleop_command_bridge/
│   ├── launch/
│   │   └── all_bridges.launch.py
│   └── Dockerfile
├── controller/            # Container B: Go Controller
│   ├── cmd/
│   │   └── controller/
│   │       └── main.go
│   ├── domain/
│   │   ├── video/
│   │   ├── audio/
│   │   ├── sensor/
│   │   ├── navigation/
│   │   └── teleop/
│   ├── pkg/
│   │   ├── webrtc/
│   │   └── zero_mq/
│   └── Dockerfile
├── infra/                 
│   └── docker-compose.yml
├── docs/                  
├── tests/                 
└── config/                

Ensure you have the following installed:

• ROS 2 Jazzy (including colcon)
• Go (version 1.21 or later recommended)
• FlatBuffers Compiler (flatc) - usually via sudo apt install flatbuffers-compiler
• Docker & Docker Compose (for containerized deployment)
• ZeroMQ Development Libraries (libzmq3-dev) - usually via sudo apt install libzmq3-dev
• Python 3 ZMQ library (python3-zmq) - usually via sudo apt install python3-zmq
• Python 3 Flatbuffers library (python3-flatbuffers) - usually via sudo apt install python3-flatbuffers

(Note: Check scripts/dev_setup.sh if available for a more automated dependency check/install process)

From the project root directory:

# Clean previous build artifacts (optional but recommended)
./scripts/build.sh clean

# Build all components (ROS gateway, Go controller, generate interfaces)
./scripts/build.sh all

1. Terminal 1 (ROS Gateway):

   cd ros2_ws
   source install/setup.bash
   # Adjust launch file name if needed
   ros2 launch ros_gateway gateway.launch.py 

2. Terminal 2 (Go Controller):

   cd controller
   # Run the controller (use flags for config/logging if needed)
   ./bin/controller 

1. Build the Image:

   # This assumes the Dockerfile is configured for runtime
   docker build -t open-teleop-runtime . 

   (Note: This image will build and contain the application ready to run)

2. Run the Container: (Requires updating the Dockerfile CMD/ENTRYPOINT to run the gateway & controller - see future steps)

   # Placeholder - final command depends on chosen startup method
   docker run --rm -p 8080:8080 open-teleop-runtime 

   (Alternatively, use docker-compose up if the infra/docker-compose.yml is configured)

See docs/development_guide.md for potential development workflows and guidelines (may require updates).

See docs/architecture.md for system architecture details (may require updates).