Stretch Mobile Teleop

Overview

Stretch has a website for teleoperating the robot from a web browser. This website can be set up to teleoperate the robot remotely from anywhere in the world with an internet connection, or simply eyes-off teleop from the next room on a local network. The codebase is built on ROS2, WebRTC, Nav2, and TypeScript.

Launching the interface

First, navigate to the folder containing the codebase using:

colcon_cd stretch4_web_teleop

Next, launch the interface:

./launch_interface.sh

In the terminal, you will see output similar to:

#############################################
LAUNCHING WEB TELEOP
#############################################
Validating web teleop installation...
✓ Installation validation passed

Setup environment...
Stopping previous instances...
Reload USB bus...
Check rmw_zenohd...
rmw_zenohd already running.
Start ROS2...
ROS2 launch output: /home/hello-robot/stretch_user/log/web_teleop/stretch4_web_teleop_202606111320/web_interface_launch.txt
Run webpack...
Start local server...
Start robot browser...

#############################################
DONE! WEB TELEOP IS UP!
Visit the appropriate URL(s) below to see web teleop:
Localhost: https://localhost/operator
Ethernet: https://192.168.1.10/operator
WiFi: https://192.168.1.110/operator
#############################################

The launch script validates that the interface was correctly installed. If there is an error when launching web teleop, the error will print in terminal.

Look for a URL like https://<ip_address>/operator. Visit this URL in a web browser on your personal laptop or desktop to see the web interface. Ensure your personal computer is connected to the same network as Stretch. You might see a warning that says "Your connection is not private". If you do, click Advanced and Proceed.

Once you're done with the interface, close the browser and run:

./stop_interface.sh

Note: Only one browser can be connected to the interface at a time.

Usage Guide