Hi!
I am trying to use the stretch_web_interface to control the robot. The connection was established, as I am able to see the video streaming. However, when I click on the interface to tell the robot to move, the robot has no reaction. How should I fix this? Thanks in advance!
hello-robot@stretch-re1-1082:~/catkin_ws/src/stretch_web_interface/bash_scripts$ ./start_desktop_dev_env.sh
****************************************
attempt to bring up desktop development environment
first making sure that the system is fully shutdown prior to bringing it up
./stop_desktop_dev_env.sh
****************************************
attempt to shutdown desktop development environment
remove environment variable for development environment
unset HELLO_ROBOT_ENV
[sudo] password for hello-robot:
sudo: unset: command not found
attempting to stop MongoDB...
sudo systemctl stop mongod.service
Failed to stop mongod.service: Unit mongod.service not loaded.
attempting to stop Redis...
sudo systemctl stop redis.service
attempting to stop the web server...
pkill -f "node ./bin/www"
finished attempt at shutting down the desktop development environment
****************************************
set environment variable for development environment
export HELLO_ROBOT_ENV="development"
attempting to start MongoDB...
sudo systemctl start mongod.service
Failed to start mongod.service: Unit mongod.service not found.
attempting to start Redis...
sudo systemctl start redis.service
attempting to start the web server...
cd ../
sudo --preserve-env node ./bin/www &
finished attempt at bringing up the desktop development environment
****************************************
hello-robot@stretch-re1-1082:~/catkin_ws/src/stretch_web_interface/bash_scripts$ start mongoose
use helmet
using a content security policy
require https
set up the view engine
set up passport
make public directory contents available to everyone
configure passport
set up error handling
set port number to 443
listen to port 80
connection successful
GET / 200 187.436 ms - 1200
GET /stylesheets/style.css 200 3.269 ms - 777
GET /login 200 36.064 ms - 1621
GET /stylesheets/style.css 304 1.553 ms - -
POST /login 401 12.004 ms - -
GET /register 200 34.977 ms - 1585
GET /stylesheets/style.css 304 0.791 ms - -
POST /register 302 482.286 ms - 46
GET / 200 31.338 ms - 1185
GET /stylesheets/style.css 304 2.739 ms - -
GET /logout 302 3.529 ms - 46
GET / 200 20.108 ms - 1200
GET /stylesheets/style.css 304 0.980 ms - -
GET /register 200 27.033 ms - 1585
GET /stylesheets/style.css 200 1.184 ms - 777
POST /register 302 439.038 ms - 46
GET / 200 18.715 ms - 1185
GET /stylesheets/style.css 304 2.418 ms - -
GET /logout 302 2.672 ms - 46
GET / 200 16.338 ms - 1200
GET /stylesheets/style.css 200 0.876 ms - 777
GET /register 200 19.184 ms - 1585
GET /stylesheets/style.css 304 1.962 ms - -
POST /register 200 34.909 ms - 1585
GET /stylesheets/style.css 304 1.096 ms - -
GET /login 304 17.055 ms - -
GET /stylesheets/style.css 304 0.740 ms - -
POST /login 302 217.855 ms - 46
GET / 200 21.840 ms - 1185
GET /stylesheets/style.css 304 2.359 ms - -
GET /login 200 17.365 ms - 1621
GET /stylesheets/style.css 304 2.550 ms - -
POST /login 302 242.469 ms - 78
GET /robot/robot.html 200 3.511 ms - 1181
GET /robot/robot.css 200 10.998 ms - 114
GET /shared/commands.js 200 11.202 ms - 16023
GET /shared/video_dimensions.js 200 20.852 ms - 2263
GET /robot/robot.js 200 19.689 ms - 47
GET /shared/send_recv_av.js 200 21.120 ms - 11704
GET /robot/robot_acquire_av.js 200 20.212 ms - 5739
GET /shared/sensors.js 200 19.644 ms - 5870
GET /robot/ros_connect.js 200 14.271 ms - 12134
successful connection to socket.io
data.user =
{
_id: 629e8446f0c3996050025f6e,
username: 'r1',
role: 'robot',
approved: true,
date: 2022-06-06T22:48:38.670Z,
__v: 0
}
connection authorized!
new socket.io connection
socket.handshake =
{
headers: {
host: 'localhost',
'user-agent': 'Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:100.0) Gecko/20100101 Firefox/100.0',
accept: '*/*',
'accept-language': 'en-US,en;q=0.5',
'accept-encoding': 'gzip, deflate, br',
connection: 'keep-alive',
cookie: 'connect.sid=s%3AHcKDO7r4DYtGiP3TY2PBYe-Baj9xKS5u.XqWIZIjkZsXY4iEHm9NgkOd2qXklc%2BmL01V%2FPwoqkL4',
'sec-fetch-dest': 'empty',
'sec-fetch-mode': 'cors',
'sec-fetch-site': 'same-origin'
},
time: 'Mon Jun 06 2022 15:52:32 GMT-0700 (Pacific Daylight Time)',
address: '::ffff:127.0.0.1',
xdomain: false,
secure: true,
issued: 1654555952533,
url: '/socket.io/?EIO=4&transport=polling&t=O4xE4M0',
query: [Object: null prototype] {
EIO: '4',
transport: 'polling',
t: 'O4xE4M0'
},
auth: {}
}
A ROBOT HAS CONNECTED
intended room name = r1
adding robot to the "robots" room
creating room for the robot and having it join the room
letting operators know about available robots
available_robots =
Set(1) { 'r1' }
connected robots = r1
available robots = r1
GET /login 200 20.303 ms - 1621
GET /stylesheets/style.css 200 2.253 ms - 777
POST /login 302 209.599 ms - 90
GET /operator/operator.html 200 2.747 ms - 10599
GET /operator/operator.css 200 2.283 ms - 8314
GET /shared/video_dimensions.js 200 3.251 ms - 2263
GET /operator/operator_acquire_av.js 200 4.381 ms - 4738
GET /shared/sensors.js 200 2.163 ms - 5870
GET /operator/operator_recorder.js 200 1.946 ms - 10195
GET /shared/send_recv_av.js 200 12.686 ms - 11704
GET /operator/operator.js 200 9.574 ms - 29
GET /shared/commands.js 200 11.345 ms - 16023
GET /operator/operator_ui_regions.js 200 10.859 ms - 21748
GET /operator/up_arrow_medium.png 200 6.585 ms - 708
GET /operator/down_arrow_medium.png 200 10.647 ms - 716
GET /operator/left_arrow_medium.png 200 10.107 ms - 630
GET /operator/right_arrow_medium.png 200 9.755 ms - 569
GET /operator/left_turn_medium.png 200 9.376 ms - 1202
GET /operator/right_turn_medium.png 200 9.358 ms - 1534
GET /operator/gripper_open_medium.png 200 7.675 ms - 1968
GET /operator/gripper_close_medium.png 200 2.097 ms - 2248
successful connection to socket.io
data.user =
{
_id: 629e8466f0c3996050025f75,
username: 'o1',
role: 'operator',
approved: true,
date: 2022-06-06T22:49:10.212Z,
__v: 0
}
connection authorized!
new socket.io connection
socket.handshake =
{
headers: {
host: '172.26.166.129',
connection: 'keep-alive',
'sec-ch-ua': '" Not A;Brand";v="99", "Chromium";v="101", "Google Chrome";v="101"',
accept: '*/*',
'sec-ch-ua-mobile': '?0',
'user-agent': 'Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/101.0.4951.64 Safari/537.36',
'sec-ch-ua-platform': '"Linux"',
'sec-fetch-site': 'same-origin',
'sec-fetch-mode': 'cors',
'sec-fetch-dest': 'empty',
'accept-encoding': 'gzip, deflate, br',
'accept-language': 'en-US,en;q=0.9,zh-CN;q=0.8,zh;q=0.7',
cookie: 'connect.sid=s%3AWeNtBlLv-AAaL_gGL6Hmb8Q3ol80DQ7u.oj7yEsCxsCSagzbL9oOlSMYGv9LDUzMCpCB%2B1b6wjqU'
},
time: 'Mon Jun 06 2022 15:52:55 GMT-0700 (Pacific Daylight Time)',
address: '::ffff:172.26.167.160',
xdomain: false,
secure: true,
issued: 1654555975461,
url: '/socket.io/?EIO=4&transport=polling&t=O4xE9x5',
query: [Object: null prototype] {
EIO: '4',
transport: 'polling',
t: 'O4xE9x5'
},
auth: {}
}
AN OPERATOR HAS CONNECTED
available_robots =
Set(1) { 'r1' }
Received request to join room r1
Requested room r1 currently has 1 client(s)
Client ID HV8f5epysv0bA224AAAD joined room r1
letting operators know about available robots
available_robots =
Set(0) {}
Client sent WebRTC message: {
type: 'offer',
sdp: 'v=0\r\n' +
'o=mozilla...THIS_IS_SDPARTA-99.0 2125455579996763519 0 IN IP4 0.0.0.0\r\n' +
's=-\r\n' +
't=0 0\r\n' +
'a=fingerprint:sha-256 6B:83:D3:A5:B0:8A:16:87:76:51:37:29:CF:EB:63:33:BF:FF:0B:90:58:15:D0:0F:B5:A0:29:65:8A:3B:4B:3B\r\n' +
'a=group:BUNDLE 0 1 2\r\n' +
'a=ice-options:trickle\r\n' +
'a=msid-semantic:WMS *\r\n' +
'm=video 9 UDP/TLS/RTP/SAVPF 120 124 121 125 126 127 97 98\r\n' +
'c=IN IP4 0.0.0.0\r\n' +
'a=sendrecv\r\n' +
'a=extmap:3 urn:ietf:params:rtp-hdrext:sdes:mid\r\n' +
'a=extmap:4 http://www.webrtc.org/experiments/rtp-hdrext/abs-send-time\r\n' +
'a=extmap:5 urn:ietf:params:rtp-hdrext:toffset\r\n' +
'a=extmap:6/recvonly http://www.webrtc.org/experiments/rtp-hdrext/playout-delay\r\n' +
'a=extmap:7 http://www.ietf.org/id/draft-holmer-rmcat-transport-wide-cc-extensions-01\r\n' +
'a=fmtp:126 profile-level-id=42e01f;level-asymmetry-allowed=1;packetization-mode=1\r\n' +
'a=fmtp:97 profile-level-id=42e01f;level-asymmetry-allowed=1\r\n' +
'a=fmtp:120 max-fs=12288;max-fr=60\r\n' +
'a=fmtp:124 apt=120\r\n' +
'a=fmtp:121 max-fs=12288;max-fr=60\r\n' +
'a=fmtp:125 apt=121\r\n' +
'a=fmtp:127 apt=126\r\n' +
'a=fmtp:98 apt=97\r\n' +
'a=ice-pwd:98366d4755bd40626dd2058a419dc7f3\r\n' +
'a=ice-ufrag:62a88dad\r\n' +
'a=mid:0\r\n' +
'a=msid:{bb4bf9c2-a243-487a-932a-2aa80cfe0e74} {f7426381-1a6e-49e1-8837-7f7b38399994}\r\n' +
'a=rtcp-fb:120 nack\r\n' +
'a=rtcp-fb:120 nack pli\r\n' +
'a=rtcp-fb:120 ccm fir\r\n' +
'a=rtcp-fb:120 goog-remb\r\n' +
'a=rtcp-fb:120 transport-cc\r\n' +
'a=rtcp-fb:121 nack\r\n' +
'a=rtcp-fb:121 nack pli\r\n' +
'a=rtcp-fb:121 ccm fir\r\n' +
'a=rtcp-fb:121 goog-remb\r\n' +
'a=rtcp-fb:121 transport-cc\r\n' +
'a=rtcp-fb:126 nack\r\n' +
'a=rtcp-fb:126 nack pli\r\n' +
'a=rtcp-fb:126 ccm fir\r\n' +
'a=rtcp-fb:126 goog-remb\r\n' +
'a=rtcp-fb:126 transport-cc\r\n' +
'a=rtcp-fb:97 nack\r\n' +
'a=rtcp-fb:97 nack pli\r\n' +
'a=rtcp-fb:97 ccm fir\r\n' +
'a=rtcp-fb:97 goog-remb\r\n' +
'a=rtcp-fb:97 transport-cc\r\n' +
'a=rtcp-mux\r\n' +
'a=rtcp-rsize\r\n' +
'a=rtpmap:120 VP8/90000\r\n' +
'a=rtpmap:124 rtx/90000\r\n' +
'a=rtpmap:121 VP9/90000\r\n' +
'a=rtpmap:125 rtx/90000\r\n' +
'a=rtpmap:126 H264/90000\r\n' +
'a=rtpmap:127 rtx/90000\r\n' +
'a=rtpmap:97 H264/90000\r\n' +
'a=rtpmap:98 rtx/90000\r\n' +
'a=setup:actpass\r\n' +
'a=ssrc:3966762648 cname:{715c68a6-f071-4621-824f-ae08c2506f45}\r\n' +
'a=ssrc:2539116250 cname:{715c68a6-f071-4621-824f-ae08c2506f45}\r\n' +
'a=ssrc-group:FID 3966762648 2539116250\r\n' +
'm=audio 9 UDP/TLS/RTP/SAVPF 109 9 0 8 101\r\n' +
'c=IN IP4 0.0.0.0\r\n' +
'a=sendrecv\r\n' +
'a=extmap:1 urn:ietf:params:rtp-hdrext:ssrc-audio-level\r\n' +
'a=extmap:2/recvonly urn:ietf:params:rtp-hdrext:csrc-audio-level\r\n' +
'a=extmap:3 urn:ietf:params:rtp-hdrext:sdes:mid\r\n' +
'a=fmtp:109 maxplaybackrate=48000;stereo=1;useinbandfec=1\r\n' +
'a=fmtp:101 0-15\r\n' +
'a=ice-pwd:98366d4755bd40626dd2058a419dc7f3\r\n' +
'a=ice-ufrag:62a88dad\r\n' +
'a=mid:1\r\n' +
'a=msid:{bb4bf9c2-a243-487a-932a-2aa80cfe0e74} {e7797176-fb97-4fd6-88c4-a225722cb0f7}\r\n' +
'a=rtcp-mux\r\n' +
'a=rtpmap:109 opus/48000/2\r\n' +
'a=rtpmap:9 G722/8000/1\r\n' +
'a=rtpmap:0 PCMU/8000\r\n' +
'a=rtpmap:8 PCMA/8000\r\n' +
'a=rtpmap:101 telephone-event/8000/1\r\n' +
'a=setup:actpass\r\n' +
'a=ssrc:1554237995 cname:{715c68a6-f071-4621-824f-ae08c2506f45}\r\n' +
'm=application 9 UDP/DTLS/SCTP webrtc-datachannel\r\n' +
'c=IN IP4 0.0.0.0\r\n' +
'a=sendrecv\r\n' +
'a=ice-pwd:98366d4755bd40626dd2058a419dc7f3\r\n' +
'a=ice-ufrag:62a88dad\r\n' +
'a=mid:2\r\n' +
'a=setup:actpass\r\n' +
'a=sctp-port:5000\r\n' +
'a=max-message-size:1073741823\r\n'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 0,
id: '0',
candidate: 'candidate:0 1 UDP 2122252543 172.26.166.129 35674 typ host'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 0,
id: '0',
candidate: 'candidate:2 1 TCP 2105524479 172.26.166.129 9 typ host tcptype active'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 0,
id: '0',
candidate: 'candidate:0 2 UDP 2122252542 172.26.166.129 48266 typ host'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 0,
id: '0',
candidate: 'candidate:2 2 TCP 2105524478 172.26.166.129 9 typ host tcptype active'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 1,
id: '1',
candidate: 'candidate:0 1 UDP 2122252543 172.26.166.129 50771 typ host'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 1,
id: '1',
candidate: 'candidate:2 1 TCP 2105524479 172.26.166.129 9 typ host tcptype active'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 1,
id: '1',
candidate: 'candidate:0 2 UDP 2122252542 172.26.166.129 40157 typ host'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 1,
id: '1',
candidate: 'candidate:2 2 TCP 2105524478 172.26.166.129 9 typ host tcptype active'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 2,
id: '2',
candidate: 'candidate:0 1 UDP 2122252543 172.26.166.129 60106 typ host'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 2,
id: '2',
candidate: 'candidate:2 1 TCP 2105524479 172.26.166.129 9 typ host tcptype active'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 0,
id: '0',
candidate: 'candidate:1 1 UDP 1686052863 128.2.149.250 35674 typ srflx raddr 172.26.166.129 rport 35674'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'answer',
sdp: 'v=0\r\n' +
'o=- 8983557736126750795 2 IN IP4 127.0.0.1\r\n' +
's=-\r\n' +
't=0 0\r\n' +
'a=group:BUNDLE 0 1 2\r\n' +
'a=msid-semantic: WMS\r\n' +
'm=video 9 UDP/TLS/RTP/SAVPF 120 124 121 125 126 127 97 98\r\n' +
'c=IN IP4 0.0.0.0\r\n' +
'a=rtcp:9 IN IP4 0.0.0.0\r\n' +
'a=ice-ufrag:kByk\r\n' +
'a=ice-pwd:UPtELS9/OScMlXzRfn1db+nt\r\n' +
'a=ice-options:trickle\r\n' +
'a=fingerprint:sha-256 67:3D:C8:EC:9A:50:0E:C5:97:1E:F4:8A:AF:84:77:29:D1:F1:CE:0F:E9:F1:30:B6:64:AE:BF:40:9B:F3:22:D6\r\n' +
'a=setup:active\r\n' +
'a=mid:0\r\n' +
'a=extmap:5 urn:ietf:params:rtp-hdrext:toffset\r\n' +
'a=extmap:4 http://www.webrtc.org/experiments/rtp-hdrext/abs-send-time\r\n' +
'a=extmap:7 http://www.ietf.org/id/draft-holmer-rmcat-transport-wide-cc-extensions-01\r\n' +
'a=extmap:6 http://www.webrtc.org/experiments/rtp-hdrext/playout-delay\r\n' +
'a=extmap:3 urn:ietf:params:rtp-hdrext:sdes:mid\r\n' +
'a=recvonly\r\n' +
'a=rtcp-mux\r\n' +
'a=rtcp-rsize\r\n' +
'a=rtpmap:120 VP8/90000\r\n' +
'a=rtcp-fb:120 goog-remb\r\n' +
'a=rtcp-fb:120 transport-cc\r\n' +
'a=rtcp-fb:120 ccm fir\r\n' +
'a=rtcp-fb:120 nack\r\n' +
'a=rtcp-fb:120 nack pli\r\n' +
'a=rtpmap:124 rtx/90000\r\n' +
'a=fmtp:124 apt=120\r\n' +
'a=rtpmap:121 VP9/90000\r\n' +
'a=rtcp-fb:121 goog-remb\r\n' +
'a=rtcp-fb:121 transport-cc\r\n' +
'a=rtcp-fb:121 ccm fir\r\n' +
'a=rtcp-fb:121 nack\r\n' +
'a=rtcp-fb:121 nack pli\r\n' +
'a=fmtp:121 profile-id=0\r\n' +
'a=rtpmap:125 rtx/90000\r\n' +
'a=fmtp:125 apt=121\r\n' +
'a=rtpmap:126 H264/90000\r\n' +
'a=rtcp-fb:126 goog-remb\r\n' +
'a=rtcp-fb:126 transport-cc\r\n' +
'a=rtcp-fb:126 ccm fir\r\n' +
'a=rtcp-fb:126 nack\r\n' +
'a=rtcp-fb:126 nack pli\r\n' +
'a=fmtp:126 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42e01f\r\n' +
'a=rtpmap:127 rtx/90000\r\n' +
'a=fmtp:127 apt=126\r\n' +
'a=rtpmap:97 H264/90000\r\n' +
'a=rtcp-fb:97 goog-remb\r\n' +
'a=rtcp-fb:97 transport-cc\r\n' +
'a=rtcp-fb:97 ccm fir\r\n' +
'a=rtcp-fb:97 nack\r\n' +
'a=rtcp-fb:97 nack pli\r\n' +
'a=fmtp:97 level-asymmetry-allowed=1;packetization-mode=0;profile-level-id=42e01f\r\n' +
'a=rtpmap:98 rtx/90000\r\n' +
'a=fmtp:98 apt=97\r\n' +
'm=audio 9 UDP/TLS/RTP/SAVPF 109 9 0 8 101\r\n' +
'c=IN IP4 0.0.0.0\r\n' +
'a=rtcp:9 IN IP4 0.0.0.0\r\n' +
'a=ice-ufrag:kByk\r\n' +
'a=ice-pwd:UPtELS9/OScMlXzRfn1db+nt\r\n' +
'a=ice-options:trickle\r\n' +
'a=fingerprint:sha-256 67:3D:C8:EC:9A:50:0E:C5:97:1E:F4:8A:AF:84:77:29:D1:F1:CE:0F:E9:F1:30:B6:64:AE:BF:40:9B:F3:22:D6\r\n' +
'a=setup:active\r\n' +
'a=mid:1\r\n' +
'a=extmap:1 urn:ietf:params:rtp-hdrext:ssrc-audio-level\r\n' +
'a=extmap:3 urn:ietf:params:rtp-hdrext:sdes:mid\r\n' +
'a=recvonly\r\n' +
'a=rtcp-mux\r\n' +
'a=rtpmap:109 opus/48000/2\r\n' +
'a=fmtp:109 minptime=10;useinbandfec=1\r\n' +
'a=rtpmap:9 G722/8000\r\n' +
'a=rtpmap:0 PCMU/8000\r\n' +
'a=rtpmap:8 PCMA/8000\r\n' +
'a=rtpmap:101 telephone-event/8000\r\n' +
'm=application 9 UDP/DTLS/SCTP webrtc-datachannel\r\n' +
'c=IN IP4 0.0.0.0\r\n' +
'a=ice-ufrag:kByk\r\n' +
'a=ice-pwd:UPtELS9/OScMlXzRfn1db+nt\r\n' +
'a=ice-options:trickle\r\n' +
'a=fingerprint:sha-256 67:3D:C8:EC:9A:50:0E:C5:97:1E:F4:8A:AF:84:77:29:D1:F1:CE:0F:E9:F1:30:B6:64:AE:BF:40:9B:F3:22:D6\r\n' +
'a=setup:active\r\n' +
'a=mid:2\r\n' +
'a=sctp-port:5000\r\n' +
'a=max-message-size:262144\r\n'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 0,
id: '0',
candidate: 'candidate:1 2 UDP 1686052862 128.2.149.250 48266 typ srflx raddr 172.26.166.129 rport 48266'
}
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: { type: 'candidate', label: 0, id: '0', candidate: '' }
sending WebRTC message to any other clients in the room named "r1".
Client sent WebRTC message: {
type: 'candidate',
label: 0,
id: '0',
candidate: 'candidate:2805307201 1 udp 2113937151 c3daf76d-b8fe-4d9f-b041-0b60ac062fcd.local 38138 typ host generation 0 ufrag kByk network-cost 999'
}