Signaling Protocol Specification

This document outlines the signaling protocol IROC Bridge package uses to communicate with clients. Designed to communicate between the web client and ROS.

HTTP API

You can use the HTTP API to send requests to interact with the robots and receive status information. The requests and responses are in JSON format.

Robot control

Endpoints for controlling the robots.

GET /robots List available robots.

NOTE
Only robots from which at least one GeneralRobotInfo telemetry message has been received are listed. Robots that have not yet published telemetry will not appear in this response.
Body raw (json)
```
  [
    {
      "name": "uav1",
      "type": 0
    },
    {
      "name": "uav2",
      "type": 0

    }

]
```
POST /robots/{robot_name}/takeoff
Command takeoff (single)
POST /robots/takeoff
Takeoff all robots
POST /robots/{robot_name}/hover
Command hover (single)
POST /robots/hover
Hover all robots
POST /robots/{robot_name}/land
Command land (single)
POST /robots/land
Land all robots
POST /robots/{robot_name}/home
Command land home (single)
POST /robots/home
Land home all robots

Environment setup

Endpoints for controlling the robot's environment.

NOTE
Each step in this sequence depends on the successful completion of the previous step. Please ensure that you first initialize the origin, then the borders, and finally the obstacles, in that exact order.

Sequence Diagram — Environment setup sequence diagram

POST /safety-area/world-origin
Set the world origin.
Body raw (json)

The frame_id field is accepted but ignored — the world origin is always stored in LATLON frame regardless of the value supplied.
```
{
"frame_id": 0, 
"x": 47.397978,
"y": 8.545299 
}
```

GET /safety-area/world-origin
Retrieve the world origin.

Body raw (json)

Status code: 202 Accepted

{
  "x": 47.397978,
  "y": 8.545299,
  "message": "World origin retrieved successfully"
}

POST /safety-area/borders
Set the safety area borders.

Body raw (json)

{
  "points": [
    {
      "x": 47.39776,
      "y": 8.545254
    },
    {
      "x": 47.397719,
      "y": 8.545436
    },
    {
      "x": 47.397601,
      "y": 8.545367
    },
    {
      "x": 47.397657,
      "y": 8.545191
    }
  ],
  "height_id": 1,
  "max_z": 347,
  "min_z": 343
}

GET /safety-area/borders
Retrieve the safety border.

Body raw (json)

Status code: 202 Accepted

{
  "frame_id": 1,
  "min_z": 0,
  "points": [
    {
      "x": 47.398283001578619178,
      "y": 8.54231999998631863491
    },
    {
      "y": 8.5464419999864418287,
      "x": 47.3979670015785998771
    },
    {
      "x": 47.3972980015784983721,
      "y": 8.54602099998643183199
    },
    {
      "x": 47.3975810015785512519,
      "y": 8.5447099999863915798
    },
    {
      "y": 8.54231999998631863491,
      "x": 47.398283001578619178
    }
  ],
  "height_id": 0,
  "max_z": 15,
  "message": "All robots in the fleet with the same safety border"
}

POST /safety-area/obstacles
Set the safety area obstacles.

Body raw (json)

{
  "obstacles": [
    {
      "points": [
        {
          "x": 47.39776,
          "y": 8.545254
        },
        {
          "x": 47.397719,
          "y": 8.545436
        },
        {
          "x": 47.397601,
          "y": 8.545367
        },
        {
          "x": 47.397657,
          "y": 8.545191
        }
      ],
      "height_id": 1,
      "max_z": 347,
      "min_z": 343
    },
    {
      "points": [
        {
          "x": 47.3979,
          "y": 8.5458
        },
        {
          "x": 47.397855,
          "y": 8.54595
        },
        {
          "x": 47.39775,
          "y": 8.54589
        },
        {
          "x": 47.397795,
          "y": 8.54574
        }
      ],
      "height_id": 1,
      "max_z": 350,
      "min_z": 345
    },
    {
      "points": [
        {
          "x": 47.3981,
          "y": 8.5451
        },
        {
          "x": 47.39805,
          "y": 8.54525
        },
        {
          "x": 47.39795,
          "y": 8.5452
        },
        {
          "x": 47.398,
          "y": 8.54505
        }
      ],
      "height_id": 1,
      "max_z": 352,
      "min_z": 348
    }
  ]
}

GET /safety-area/obstacles
Retrieve the obstacles.

Body raw (json)

Status code: 202 Accepted

{
  "obstacles": [
    {
      "height_id": 0,
      "max_z": 7.05999999660582489014,
      "frame_id": 1,
      "min_z": 3.05999999660582489014,
      "points": [
        {
          "x": 47.3977600015785611731,
          "y": 8.54525399998640722288
        },
        {
          "y": 8.54543599998641312254,
          "x": 47.3977190015785652122
        },
        {
          "x": 47.3976010015785576002,
          "y": 8.54536699998641147147
        },
        {
          "x": 47.3976570015785512169,
          "y": 8.54519099998640641047
        },
        {
          "y": 8.54525399998640722288,
          "x": 47.3977600015785611731
        }
      ]
    },
    {
      "points": [
        {
          "y": 8.54579999998642314551,
          "x": 47.3979000015785771893
        },
        {
          "x": 47.3978550015785771166,
          "y": 8.54594999998642634864
        },
        {
          "y": 8.54588999998642506739,
          "x": 47.3977500015785722098
        },
        {
          "y": 8.54573999998642364062,
          "x": 47.3977950015785864935
        },
        {
          "x": 47.3979000015785771893,
          "y": 8.54579999998642314551
        }
      ],
      "min_z": 5.05999999660582489014,
      "frame_id": 1,
      "max_z": 10.0599999966058248901,
      "height_id": 0
    },
    {
      "height_id": 0,
      "max_z": 12.0599999966058248901,
      "frame_id": 1,
      "min_z": 6.44836723768419848974e-31,
      "points": [
        {
          "x": 47.3981000015786122503,
          "y": 8.54509999998640168428
        },
        {
          "y": 8.54524999998640488741,
          "x": 47.3980500015786105905
        },
        {
          "x": 47.39795000157859306,
          "y": 8.54519999998640500394
        },
        {
          "x": 47.3980000015786018253,
          "y": 8.54504999998640002445
        },
        {
          "y": 8.54509999998640168428,
          "x": 47.3981000015786122503
        }
      ]
    }
  ],
  "message": "All robots in the fleet with the same obstacles"
}

NOTE
In case of any discrepancy within the robot's safety border, obstacles & origin, having different values You will receive a Status code 409 Conflict, and a message to let the user know about the conflict:

{
  "message": "Call was not successful with message: Discrepancy in the borders between the fleet, please set the safety borders!"
}

Missions

The missions are handled by IROC Fleet Manager: a node responsible for distributing mission goals to the robots, monitoring their progress, and sending the aggregated information to the IROC Bridge.

Mission management is split into two explicit phases:

Upload (POST /mission) — synchronous. The fleet manager runs trajectory generation and safety validation on every robot before returning. Errors (bad coordinates, safety violations, unavailable robots) are returned immediately with per-robot detail. If any robot fails, all staged missions are rolled back.
Execute (POST /mission/start) — asynchronous. Triggers execution on all robots and returns immediately. Real-time feedback flows over the WebSocket /telemetry connection. Results are delivered via WebSocket when the mission finishes.

POST /mission         →  Upload & validate (sync)   →  200 OK  or  400/409 with per-robot errors
POST /mission/start   →  Begin execution  (async)   →  202 Accepted, feedback via WebSocket
POST /mission/pause   →  Pause all robots            →  202 Accepted
POST /mission/start   →  Resume all robots           →  202 Accepted
POST /mission/stop    →  Stop & discard mission      →  202 Accepted

Upload a Mission

POST /mission Upload and stage a mission on all robots. Synchronous — blocks until every robot has run trajectory generation and safety checks. Returns per-robot results. Upload is all-or-nothing: if any robot fails, all are rolled back to idle.

The mission request requires the following fields:

type: Mission planner to use ("WaypointPlanner", "CoveragePlanner").
details: Planner-specific mission parameters.

uuid: Client-generated identifier for synchronization with the UI.

WaypointPlanner: Body raw (json)

{
    "type": "WaypointPlanner",
    "uuid": "550e8400-e29b-41d4-a716-446655440000",
    "details": {
      "robots": [
        {
          "name": "uav1",
          "frame_id": 0,
          "height_id": 0,
          "points": [
            {
              "x": 20,
              "y": 10,
              "z": 3,
              "heading": 1
            },
            {
              "x": 20,
              "y": 10,
              "z": 3,
              "heading": 3
            },
            {
              "x": -20,
              "y": -20,
              "z": 4,
              "heading": 3,
              "subtasks": [
                {
                  "type": "gazebo_gimbal",
                  "parameters": [0.5, 0.5, 0.5]
                }
              ]
            },
            {
              "x": -10,
              "y": 10,
              "z": 5,
              "heading": 3
            },
            {
              "x": 10,
              "y": -10,
              "z": 4,
              "heading": 3,
              "subtasks": [
                {
                  "type": "wait",
                  "parameters": 5.6
                }
              ]
            },
            {
              "x": 20,
              "y": 10,
              "z": 3,
              "heading": 1
            }
          ],
          "terminal_action": 0
        }
      ]
    }
}

CoveragePlanner: Body raw (json)

{
  "type": "CoveragePlanner",
  "uuid": "b5aaa323-64e5-4eb8-8615-e4059fe84997",
  "details": {
    "robots": ["uav1", "uav2"],
    "search_area": [
      {
        "x": 47.397978,
        "y": 8.545299
      },
      {
        "x": 47.397848,
        "y": 8.545872
      },
      {
        "x": 47.397551,
        "y": 8.54572
      },
      {
        "x": 47.397699,
        "y": 8.545129
      }
    ],
    "height_id": 0,
    "height": 5,
    "terminal_action": 0
  }
}

Upload Response

All responses from POST /mission share the same structure:

success: true if all robots staged successfully, false otherwise.
message: General status message.
robot_results: Array with one entry per robot.
- robot_name: Robot identifier string.
- success: Whether this robot staged its mission successfully.
- message: Per-robot detail (trajectory count on success, error reason on failure).

Successful upload — all robots staged

Body example response (json)

Status code: 200 OK

{
  "success": true,
  "message": "Mission uploaded to all robots",
  "robot_results": [
    {
      "robot_name": "uav1",
      "success": true,
      "message": "Staged 6 trajectories"
    },
    {
      "robot_name": "uav2",
      "success": true,
      "message": "Staged 6 trajectories"
    }
  ]
}

Upload failure — safety validation error (all robots rolled back)

Body example response (json)

Status code: 400 Bad Request

{
  "success": false,
  "message": "Upload failed on one or more robots",
  "robot_results": [
    {
      "robot_name": "uav1",
      "success": false,
      "message": "Trajectory is outside of safety area"
    },
    {
      "robot_name": "uav2",
      "success": true,
      "message": "Staged 6 trajectories"
    }
  ]
}

Upload rejected — mission already staged

Body example response (json)

Status code: 409 Conflict

{
  "success": false,
  "message": "Mission already staged, stop or unload first",
  "robot_results": []
}

Upload rejected — mission already executing or paused

Body example response (json)

Status code: 409 Conflict

{
  "success": false,
  "message": "Fleet is already executing a mission",
  "robot_results": []
}

Mission `GET` endpoint

GET /mission Retrieve the mission currently staged or executing in the fleet manager.

Body raw (json)

Status code: 200 OK

{
  "robot_data": [
    {
      "message": "Mission loaded successfully",
      "mission": {
        "frame_id": 0,
        "height_id": 0,
        "points": [
          { "x": 20,  "y": 10,  "z": 3, "heading": 1 },
          { "x": 20,  "y": 10,  "z": 3, "heading": 3 },
          { "x": -20, "y": -20, "z": 4, "heading": 3 },
          { "x": -10, "y": 10,  "z": 5, "heading": 3 },
          { "x": 10,  "y": -10, "z": 4, "heading": 3 },
          { "x": 20,  "y": 10,  "z": 3, "heading": 1 }
        ]
      },
      "success": true,
      "robot": "uav1"
    }
  ],
  "uuid": "550e8400-e29b-41d4-a716-446655440000",
  "type": "WaypointPlanner",
  "message": "Mission loaded successfully",
  "success": true
}

If there is no active or staged mission, or if the fleet manager service is unavailable:

Body raw (json)

Status code: 500 Internal Server Error

{
  "robot_data": [],
  "success": false,
  "message": "No active mission."
}

Mission Control Endpoints

We support both fleet-wide and individual robot mission control.

Fleet Mission Control:

These endpoints control the mission state for all robots at once.

POST /mission/start Start or resume the mission for all robots.
NOTE
A mission must be uploaded first via POST /mission before calling start.
If the mission is already executing (e.g. after a pause), calling start again resumes all robots.
Returns 202 Accepted immediately. Real-time progress arrives via WebSocket /telemetry. The final result is also delivered over WebSocket when the mission finishes.

Error codes:
- 409 Conflict — if the fleet action server is unavailable or the goal is rejected (e.g. already active).
- 500 Internal Server Error — if the bridge times out waiting for goal acceptance.
POST /mission/pause Pause the mission for all robots.
POST /mission/stop Stop the mission for all robots and discard the staged mission. All robots return to idle.

Robot Mission Control:

You can also control individual robots using these endpoints:

POST /robots/{robot_name}/mission/start Start or resume the mission for a specific robot.

NOTE
Starting a single robot activates it while others remain paused. Use /mission/start afterwards to activate the remaining robots.
POST /robots/{robot_name}/mission/pause Pause the mission for a specific robot.
POST /robots/{robot_name}/mission/stop Stop the mission for a specific robot.

NOTE
Stopping a single robot aborts the overall fleet mission and stops all other robots. This is intentional — the mission assumes the participation of all assigned robots.

Feedback

During an active mission (after POST /mission/start), periodic feedback is broadcast over the WebSocket /telemetry connection. Feedback is broadcast in both EXECUTING and PAUSED states.

onmessage Mission Feedback

Message raw (json)

{
  "type": "MissionFeedback",
  "progress": 0.75,
  "mission_state": "mission_executing",
  "message": "Mission in progress",
  "robots": [
    {
      "robot_name": "uav1",
      "message": "Executing trajectory",
      "mission_progress": 0.6,
      "current_goal": 2,
      "distance_to_goal": 15.3,
      "goal_estimated_arrival_time": 30,
      "goal_progress": 0.8,
      "distance_to_finish": 50.2,
      "finish_estimated_arrival_time": 50
    },
    {
      "robot_name": "uav2",
      "message": "Executing trajectory",
      "mission_progress": 0.45,
      "current_goal": 1,
      "distance_to_goal": 5.7,
      "goal_estimated_arrival_time": 30,
      "goal_progress": 0.95,
      "distance_to_finish": 75.8,
      "finish_estimated_arrival_time": 50
    }
  ]
}

The mission_state field reflects the current fleet mission state and takes one of the following string values:

`mission_state`	Meaning
`"trajectories_loaded"`	Mission staged, waiting for start command
`"mission_executing"`	Mission actively running
`"mission_paused"`	Mission paused (all robots holding position)
`"mission_aborted"`	Mission was stopped or cancelled
`"mission_invalid"`	Mission failed validation
`"mission_error"`	Unexpected error during execution

Result

When a mission finishes (success or failure), the result is delivered via HTTP POST from the bridge to the client server at:

POST http://<client_url>:<client_port>/api/mission/results The client URL and port are configured in the bridge's config file (iroc_bridge/client_url, iroc_bridge/client_port).

Body raw (json)

{
  "success": true,
  "message": "All robots finished successfully, mission finished",
  "robot_results": [
    {
      "robot_name": "uav1",
      "success": true,
      "message": "Robot finished successfully"
    },
    {
      "robot_name": "uav2",
      "success": true,
      "message": "Robot finished successfully"
    }
  ]
}

Subtasks

On the Waypoint missions, you can send a list of subtasks that will be executed by the robot when it reaches a waypoint. You just need to add a new field called subtasks in the waypoint message, which is an array of subtasks. Requests are retro-compatible, so you can use the feature without changing the existing missions or additional fields.

There are two types of subtasks supported: wait and gazebo_gimbal (for simulation), but they can be extended in the future due to the ROS plugin architecture in iroc_mission_handler.

`wait` - Temporal Delay

Introduces a pause in mission execution for a specified duration.

Parameters

It receives a floating-point number representing the duration in seconds.

Usage Example

{
  "type": "wait",
  "parameters": 5.0
}

`gazebo_gimbal` - Camera Orientation Control

Controls the gimbal system to orient the camera towards specific angles.

Parameters

It receives an array of three floating-point numbers representing the camera orientation angles in radians (roll, pitch, yaw)

Usage Example

{
  "type": "gazebo_gimbal",
  "parameters": [1.0, 0.5, 0.0]
}

Waypoint Structure

The subtask system allows you to define complex behaviors that are executed when a robot reaches a waypoint.

Each waypoint now supports the following structure:

{
  // Standard `x`, `y` and `z` data
  "subtasks": [
    // Array of subtask objects
  ],
  "parallel_execution": false // Optional: Whether subtasks can be executed in parallel
}

Parallel Execution

Default: false (sequential execution)
When true: Subtasks are executed simultaneously
When false: Subtasks are executed one after another (sequentially)

Subtask Configuration

Each subtask supports advanced execution control through the following fields:

Basic Fields

These are the fundamental fields for configuring a subtask:

type: Type of task to execute
parameters: Task-specific parameters (string format)

Advanced Execution Control

continue_without_waiting: If true, the mission continues without waiting for this subtask to complete
stop_on_failure: If true, the entire mission stops if this task fails
max_retries: Maximum number of retry attempts if the task fails (0 = no retries)
retry_delay: Delay in seconds before retrying a failed task

Example Subtask Structure

{
  "type": "wait",
  "parameters": "5.0",
  "continue_without_waiting": false,
  "stop_on_failure": true,
  "max_retries": 3,
  "retry_delay": 2.0
}

Mission with multiple subtasks example:

Body raw (json)

{
  "type": "WaypointPlanner",
  "uuid": "550e8400-e29b-41d4-a716-446655440000",
  "details": {
    "robots": [
      {
        "name": "uav1",
        "frame_id": 0,
        "height_id": 0,
        "points": [
          {
            "x": 20,
            "y": 10,
            "z": 3,
            "heading": 1
          },
          {
            "x": 20,
            "y": 10,
            "z": 3,
            "heading": 3
          },
          {
            "x": -20,
            "y": -20,
            "z": 4,
            "heading": 3,
            "subtasks": [
              {
                "type": "gazebo_gimbal",
                "parameters": [0.5, 0.5, 0.5],
                "continue_without_waiting": false,
                "stop_on_failure": false,
                "max_retries": 1,
                "retry_delay": 0
              },
              {
                "type": "wait",
                "parameters": 5.6
              }
            ],
            "parallel_execution": true
          },
          {
            "x": -10,
            "y": 10,
            "z": 5,
            "heading": 3
          },
          {
            "x": 10,
            "y": -10,
            "z": 4,
            "heading": 3,
            "subtasks": [
              {
                "type": "wait",
                "parameters": 5.6
              }
            ]
          },
          {
            "x": 20,
            "y": 10,
            "z": 3,
            "heading": 1,
            "subtasks": [
              {
                "type": "wait",
                "parameters": 5.6
              }
            ]
          }
        ],
        "terminal_action": 0
      }
    ]
  }
}

WebSocket API

You can use the WebSocket API to receive robots telemetry and send requests to control the robots.

Telemetry

Robot's data and status can be received periodically in the /telemetry path.

onmessage General Robot Info

Message raw (json)

{
  "errors": [],
  "type": "GeneralRobotInfo",
  "ready_to_start": 1,
  "problems_preventing_start": [],
  "battery_state": {
    "wh_drained": -1,
    "percentage": -1,
    "voltage": -1
  },
  "robot_type": 0,
  "robot_name": "uav2"
}

onmessage State Estimation Info

Message raw (json)

{
  "type": "StateEstimationInfo",
  "switchable_estimators": [
    "gps_baro",
    "gps_garmin"
  ],
  "velocity": {
    "angular": {
      "z": 0,
      "y": 0,
      "x": 0
    },
    "linear": {
      "z": 4.6765261112091244e-21,
      "y": 0,
      "x": 0
    }
  },
  "global_pose": {
    "heading": 1.02729905983773,
    "altitude": 340,
    "longitude": 8.545800727209587,
    "latitude": 47.39776586900617
  },
  "local_pose": {
    "z": 0.059999996605801006,
    "heading": 1.02729905983773,
    "y": 2.4504742256806935,
    "x": 15.614331170562465
  },
  "current_estimator": "gps_baro",
  "above_ground_level_height": 0.059999996605801,
  "running_estimators": [
    "gps_baro",
    "gps_garmin"
  ],
  "acceleration": {
    "angular": {
      "z": 0,
      "y": 0,
      "x": 0
    },
    "linear": {
      "z": 1.0095692646347513e-18,
      "y": 0,
      "x": 0
    }
  },
  "estimation_frame": "uav2/gps_garmin_origin",
  "robot_name": "uav2"
}

onmessage Control Info

Message raw (json)

{
  "type": "ControlInfo",
  "thrust": null,
  "available_trackers": [],
  "active_tracker": "unknown",
  "available_controllers": [],
  "active_controller": "unknown",
  "robot_name": "uav2"
}

onmessage Collision Avoidance Info

Message raw (json)

{
  "type": "CollisionAvoidanceInfo",
  "other_robots_visible": [
    "uav1"
  ],
  "collision_avoidance_enabled": 1,
  "avoiding_collision": 0,
  "robot_name": "uav2"
}

onmessage UAV Info

Message raw (json)

{
  "mass_nominal": null,
  "type": "UavInfo",
  "flight_duration": 0,
  "flight_state": "OFFBOARD",
  "offboard": 1,
  "armed": 1,
  "robot_name": "uav2"
}

onmessage System Health Info

Message raw (json)

{
  "free_ram": 22.789223,
  "robot_name": "uav2",
  "cpu_load": 10.102389,
  "mag_strength": null,
  "total_ram": 30.061069,
  "type": "SystemHealthInfo",
  "mag_uncertainty": null,
  "free_hdd": 1393,
  "state_estimation_rate": 20.080807,
  "hw_api_rate": 99.019608,
  "control_manager_rate": 0.990196,
  "gnss_uncertainty": 0,
  "node_cpu_loads": [
    ["/uav2/hw_api", 1.09215],
    ["/uav2/constraint_manager", 1.09215],
    ["/uav2/control_manager", 1.09215],
    ["/uav2/estimation_manager", 0]
  ],
  "available_sensors": [
    {
      "name": "pixhawk",
      "status": "NOT_IMPLEMENTED",
      "ready": 1,
      "rate": -1
    },
    {
      "rate": -1,
      "ready": 1,
      "status": "NOT_IMPLEMENTED",
      "name": "garmin_down"
    }
  ]
}

onmessage Sensor Info

Message raw (json)

{
  "type": "SensorInfo",
  "robot_name": "uav1",
  "sensor_type": 7,
  "details": {
    "camera_frame_tf": {
      "rotation_rpy": {
        "pitch": -0.000007,
        "roll": -0.038402,
        "yaw": 0
      },
      "translation": {
        "x": 0.09669,
        "y": 0.002004,
        "z": -0.060549
      }
    },
    "camera_info": {
      "fov_x_rad": 1.92,
      "fov_y_rad": 1.353683,
      "height": 1080,
      "width": 1920
    },
    "camera_orientation": {
      "orientation_rpy": {
        "pitch": -0.000007,
        "roll": -0.038402,
        "yaw": 0
      }
    },
    "optical_frame_tf": {
      "rotation_rpy": {
        "pitch": -0.038402,
        "roll": -1.570789,
        "yaw": -1.570796
      },
      "translation": {
        "x": 0.09669,
        "y": 0.002004,
        "z": -0.060549
      }
    }
  }
}

NOTE: The top-level sensor_type field is a numeric code indicating the sensor type (e.g., 7 for camera). The available sensor types are defined in the mrs_robot_diagnostics/SensorStatus message:

0: Autopilot

1: Rangefinder

2: GPS

3: IMU

4: Barometer

5: Magnetometer

6: LIDAR

7: Camera

Robot remote control

You can use the WebSocket API to control the robots in the /rc path.

onmessage Message
Similar to a ping websocket message.
Message raw (json)
```
{
  "command": "message",
  "data": "Hello, World!"
}
```

onmessage Movement
To control the UAV, it receives normalized linear (x, y, z) and angular (yaw) velocities.

Message raw (json)

{
  "command": "move",
  "robot_name": "uav1",
  "data": {
    "x": 1.0,
    "y": -0.5,
    "z": 0,
    "heading": 1.0
  }
}

Camera stream using WebRTC

The features for the camera streaming are available, and the setup can be tested by starting the simulator with the camera argument for that will start the gazebo simulator:

./start --camera

This will start the WebRTC server and allow the camera stream to be visualized on port 9090 of the server.

NOTE
Please follow the instructions for the installation of dependencies in the webrtc_ros repository. A detailed example of how the integration can be done is here.

Signaling Protocol Specification

HTTP API

Robot control

Environment setup

Missions

Upload a Mission

Upload Response

Mission GET endpoint

Mission Control Endpoints

Feedback

Result

Subtasks

wait - Temporal Delay

Parameters

Usage Example

gazebo_gimbal - Camera Orientation Control

Parameters

Usage Example

Waypoint Structure

Parallel Execution

Subtask Configuration

Basic Fields

Advanced Execution Control

Example Subtask Structure

Mission with multiple subtasks example:

WebSocket API

Telemetry

Robot remote control

Camera stream using WebRTC

Mission `GET` endpoint

`wait` - Temporal Delay

`gazebo_gimbal` - Camera Orientation Control