Web based ROS interface for telepresence

Abstract

This paper describes the approach of using roslibjs in combination with rosbridge to create a custom web interface for remote telepresence. Remote connection from the web server to the robot is established through Husarnet to allow access to multiple robots simultaneously with low latency without the need to be in the same network. The interface enables viewing a 360 image that can be scrolled through, multiple views of the virtual visualisation of data, sending waypoints to the autonomous pilot, as well as basic controls of a manipulator attached to the Autonomous Underwater Vehicle (AUV). This approach has been tested with multiple users from around the world successfully operating an AUV remotely.