gRPC <--> WebRTC bridge

This is a simple bridge between gRPC and WebRTC. It allows you to call the gRPC services from the SDK server through WebRTC. It relies on the gstreamer webrtc implementation.

Installation

pip install -e .[dev, pollen, examples]

dev, pollen, examples are optional parameters for developers

Usage

Please see https://github.com/pollen-robotics/docker_webrtc for production use

Requirements

• Launch the (fake) Robot using the core docker image ros2 launch reachy_bringup reachy.launch.py start_sdk_server:=true start_rviz:=true fake:=true

• Launch a signalling server using webrtc docker image gst-webrtc-signalling-server

• Launch the bridge from a webrtc docker image grpc_webrtc_bridge --webrtc-signaling-host signalling-server --grpc-host 172.17.0.1 --verbose

Fake teleop example

• Launch the fake teleop app:

  • python src/example/simulate_teleop_data.py