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hello-robot / stretch_web_teleop

Remote web teleoperation for the Stretch mobile manipulators from Hello Robot Inc.
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Improve connection time by initiating WebRTC negotiation in parallel to ROS set up #105

Open hello-binit opened 2 months ago

hello-binit commented 2 months ago

Currently, the ROS set up has to finish before the WebRTC connecting procedure starts. Notice connection.jointRobotRoom() at the end.

https://github.com/hello-robot/stretch_web_teleop/blob/015a0d26ae230ba86d1769eae977f78ebc00bb20/src/pages/robot/tsx/index.tsx#L67-L94

By starting both in parallel, the overall load time for the application will be reduced. This change would happen in the robot browser.