You might look at [Robot Commander,](
https://github.com/UbiquityRobotics/Robot_Commander) which runs on Android. There is also an [older version](
https://github.com/UbiquityRobotics/speech_commands) for a workstation.
Possibly overkill.
Both use [RobotWebTools](
https://github.com/RobotWebTools)
..
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