opentera-teleop-service

OpenTera Service handling teleoperation sessions based on webrtc.

Setup Service

```bash

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

```bash

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

bash ./create_conda_venv.sh

Build Service with CMake

Modify setup according to your configuration

bash vi webportal/.env.production

This command will compile opentera-webrtc python library, build webportal and teleop-frontend ```bash 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={YOURPATHHERE}/opentera-teleop-service.git ExecStart={YOURPATHHERE}/opentera-teleop-service.git/venv/bin/python3 {YOURPATHHERE}/opentera-teleop-service.git/TeleopService.py WorkingDirectory={YOURPATHHERE}/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 ```