Teleoperation Viewer

The Teleoperation Viewer combines a live video feed with a virtual joystick so operators can manually drive the robot from the Monitoring page.

Use it for supervised interventions, remote inspections, or bringing a robot to a safe state.

3D Viewer

Key Capabilities

Supports Ackermann and Twist steering models.
Dual Connection Modes: Choose between gRPC and WebRTC for video streaming.
Video Transformation: Flip or rotate the camera feed to match the operator's perspective.
Flexible Control: Toggle between an on-screen Virtual joystick or a physical controller.
Safety Limits: Configurable velocity limits and auto-repeat idle states to prevent runaway behaviors.
Automatic control model inference from the underlying message type.

Teleoperation Viewer Settings

Connection Mode: Select the streaming protocol:
- gRPC: Standard streaming.
- WebRTC: Low-latency streaming (recommended for unstable networks).
Video Stream: Choose the camera topic to display.
Transform: Adjust the video orientation if the camera is mounted differently:
- Flip: Horizontally or Vertically.
- Rotate: Rotate the feed by 90-degree increments.

Joystick Stream: Select the command topic (e.g., /cmd_vel) used to control the robot.
Joystick Update Rate (Hz): Set the frequency at which command messages are published.
Joystick Controller: Select the input method (e.g., Virtual for the on-screen UI).

Linear/Angular Velocity: Set the Minimum and Maximum speed limits to ensure safe operation.
Axis Configuration:
- Inverse joystick: Swaps forward/backward controls.
- Mirror joystick: Swaps left/right controls.
Auto-repeat idle state: When checked, the system sends continuous zero-velocity commands when the joystick is released. This locks the robot in place rather than letting it drift or timeout.