docs: remote monitoring integration steps from Interplai #347
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| **Autoware Interplai Teleoperation Design** | ||||||
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| **Remote Monitoring - Architecture:** | ||||||
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| **Phase – 1 (Remote monitoring):** | ||||||
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| **On Vehicle Side:** | ||||||
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| - ROS2 node for starting/ launching the robot script | ||||||
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| for ex: WebRTCDataTransferNode | ||||||
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| - Gstream pipeline for gathering video data from 4 cameras and audio from 1 microphone | ||||||
| - Data channel for transmitting/ receiving control commands | ||||||
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| - Registering the vehicle ID on signaling server (communication medium) | ||||||
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| - Integrate ROS2 node (WebRTCDataTransferNode) inside launch file of Autoware Universe | ||||||
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| - Communicate with the signaling server, hosted on (ex: AWS, GCP) where Vehicle ID can get registered | ||||||
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| **Dash board:** | ||||||
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| **On Remote Side:** | ||||||
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| - Web login setup for remote user for monitoring the vehicle | ||||||
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| - Option to choose the remote monitoring on web page | ||||||
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| - ID mapping between vehicle and remote operator happens on signaling server , to allow only authenticated access | ||||||
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| - Disconnect button for closing the remote monitoring | ||||||
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| **Phase – 2 (Tele-operation):** | ||||||
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| In addition to phase – 1, | ||||||
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| - We have option to send GPS coordinates from vehicle to remote web page, to monitor the vehicle state | ||||||
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| - We can send control commands via data channel from operator web page using joystick to vehicle | ||||||
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| - Control commands: Throttle, Steering | ||||||
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| - We have ROS2 topic “operator_control_command”, which accepts the incoming control commands from operator | ||||||
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| Application: Tele-operation for parking lot | ||||||
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I think we can use without the dash symbol https://en.wikipedia.org/wiki/Teleoperation |
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| Vehicle to Infrastructure communication | ||||||
| -5G Modem(simcom,quectel) | ||||||
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| - Auto-ware platform’s “emergency stop” can be reused for safe teleoperation as redudant safety system | ||||||
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