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ladvoc merged 2 commits into from
Apr 7, 2026
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Update README #13

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Update README
ladvoc Apr 3, 2026
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Merge branch 'main' into ladvoc/readme-updates
ladvoc Apr 7, 2026
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25 changes: 17 additions & 8 deletions README.md
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# Overview
LiveKit teleop examples.
# LiveKit Teleop

## [pan_tilt_demo](pan_tilt_demo/README.md)
A pan/tilt robot with a gyroscope and RealSense attached to the end effector is controlled by another participant.
- `PanTiltRobot`: streams depth, gyro, servo state, and RGB data.
- `TeleopController`: subscribes to all data and sends control commands.
<img src=".github/images/web-ui.png" alt="Teleop web UI" width="500" />

## [web](web/README.md)
A browser-based teleoperation UI built with Next.js and LiveKit. Provides a full-screen video viewport with joystick and keyboard controls for pan/tilt movement, degree scales, and operator mode locking.
An example demonstrating real-time robot teleoperation over [LiveKit](https://livekit.io). A camera-equipped pan/tilt robot publishes video, depth, gyroscope, and servo state as LiveKit tracks. Multiple users can access the web UI to view the live feeds, and a single operator can acquire control.

## Components

### Edge / Robot (C++) — [`pan_tilt_demo/`](pan_tilt_demo/README.md)

A C++ application built with the [LiveKit C++ SDK](https://github.com/livekit/rust-sdks) that runs on the robot (e.g. Jetson) and bridges the hardware to a LiveKit room.

- **PanTiltRobot** — drives Feetech STS3215 servos, reads an L3G4200D gyroscope, and streams RGB + depth from an Intel RealSense D415. Publishes all sensor state as LiveKit data and video tracks and accepts velocity commands gated by an `acquire_control` RPC.

- **TeleopController** — an optional desktop client that subscribes to the robot's tracks, renders the video feed in an SDL3 window, and sends keyboard-driven pan/tilt commands.

### Web UI (Next.js) — [`web/`](web/README.md)

A browser-based teleoperation interface built with Next.js, React, and the [LiveKit JS SDK](https://github.com/livekit/client-sdk-js). Provides a full-screen video viewport with on-screen joystick and keyboard controls for pan/tilt movement, live degree scales, and operator-mode locking.
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