Demo - Web Teleoperation

This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.

A common use case for Stretch is to operate the robot remotely, either on a local network or across the Internet. Hello Robot's Web Teleop software makes this possible, allowing an operator to control the robot while streaming the view through any of the robot's cameras. In the following demo, you will learn how to launch and use the Web Teleop demo that comes with Stretch.

Launching the Demo

On the robot, web teleop can be launched in two ways.

1

Command Line

Open a Terminal window and type the following to navigate to the correct folder:

colcon_cd stretch4_web_teleop

Then to launch the demo:

./launch_interface.sh

2

Stretch Tray

Click the Hello Robot icon at the top right of the screen, then select "Launch Web Teleop" from the dropdown menu. A Terminal window will open and launch the demo.

When the demo launches, the URL for connecting to the robot will be displayed at the bottom of the window (example: https://192.0.2.1/operator). Record this for use in the next step.

Connecting over a local network

On a mobile phone or PC that is connected to the same Wi-Fi network as Stretch, open a web browser (Firefox recommended for best compatibility) and type in the URL as it appeared in the robot's Terminal window. This will connect you to the robot.

You might receive an 'invalid certificate' error that asks you if you want to proceed with the connection - this is expected, and it is OK to proceed.

After a few seconds, you should see the Web Teleop interface display in your browser:

#Insert web teleop default image

Add hint about homing the robot if unhomed?

Using this interface, you can directly control all of the robot's joints, switch between camera views, change speed settings, .

#Labeled diagram of interface options

#Insert video screengrab of ~ 1 minute of web teleop

Advanced capabilities - autonomous navigation

Documentation Coming Soon

Advanced capabilities - click-to-pregrasp

Documentation Coming Soon

Connecting remotely over the Internet

It is possible to use Web Teleop entirely remotely over an internet connection, using a service like ngrok for secure tunneling. Instructions and tips can be found in the stretch4_web_teleop repository.