  Teleoperation allows a human operator to remotely interact with and control a
mobile robot in a dangerous or inaccessible area. Besides well-known
applications such as space exploration or search and rescue operations, the
application of teleoperation in the area of automated driving, i.e.,
teleoperated driving (ToD), is becoming more popular. Instead of an in-vehicle
human fallback driver, a remote operator can connect to the vehicle using
cellular networks and resolve situations that are beyond the automated vehicle
(AV)'s operational design domain. Teleoperation of AVs, and unmanned ground
vehicles in general, introduces different problems, which are the focus of
ongoing research. This paper presents an open source ToD software stack, which
was developed for the purpose of carrying out this research. As shown in three
demonstrations, the software stack can be deployed with minor overheads to
control various vehicle systems remotely.
