Add identiy and version number. Some generic cleanup.

CMakeLists.txt

@@ -14,7 +14,7 @@ install(DIRECTORY
 
 # Install launch and param files.
 install(DIRECTORY
-  launch params
+  launch params assets
   DESTINATION share/${PROJECT_NAME}/
 )
 

am_i_up/Api.py

@@ -11,29 +11,44 @@
 from aiohttp import web
 import asyncio
 from ament_index_python import get_package_share_directory
+from am_i_up.Authenticator import Authenticator
+from am_i_up.MediaMTXAuthenticator import MediaMTXAuthenticator
 import rclpy
 
 class Api:
     def __init__(self, facts):
         self._facts = facts
 
+        self._authenticator = Authenticator(facts.get_password(), self.get_open_endpoints())
+        self._mediamtx_authenticator = MediaMTXAuthenticator()
+
     async def run(self):
         ui_share_directory =  get_package_share_directory(self._facts.get_ui_pkg())
         ui_static_directory = ui_share_directory + "/dist/assets"
 
-        app = web.Application()
+        server_static_directory = get_package_share_directory("am_i_up") + "/assets"
+
+        app = web.Application(middlewares=[self._authenticator.build_middleware()])
         app.add_routes([
             web.get('/api/ping', self.ping),
             web.get('/api/uptime', self.uptime),
             web.get('/api/build_info', self.build_info),
+            web.get('/api/version_number', self.version_number),
             web.get('/api/env', self.env),
-            web.get('/api/status', self.status),
+            web.get('/api/identity', self.identity),
-            web.get('/api/costmap_image', self.costmap_image),
             web.get("/api/position", self.position),
+            web.get("/api/diagnostics", self.diagnostics),
+            web.post("/api/login", self.login),
+            web.get("/api/available_streams", self.available_streams),
+            web.post("/api/mediamtx/auth", self.mediamtx_auth),
+            web.get("/api/mediamtx/login", self.mediamtx_login),
             web.static("/assets", ui_static_directory),
+            web.static("/server_assets", server_static_directory),
+            web.get('/login', self.login_page),
             # we're not actually using key anywhere, but doing this allows react router
             # to work correctly.
-            web.get("/{key:.*}", self.index)
+            web.get("/{key}", self.index),
+            web.get("/", self.index)
         ])
 
         url = "0.0.0.0"
@@ -49,6 +64,62 @@ class Api:
             await asyncio.sleep(3600)
         await runner.cleanup()
 
+    def get_open_endpoints(self):
+        return ["/login", "/api/login", "/server_assets/(.*)", "/api/mediamtx/auth"]
+
+    async def login_page(self, request):
+        login_page = get_package_share_directory("am_i_up") + "/assets/login.html"
+        return web.FileResponse(login_page)
+
+    async def mediamtx_auth(self, request):
+        # Take the mediamtx json and figure out if I'm a valid user.
+        # MediaMTX json looks like:
+        # {
+        #  "user": "user",
+        #  "password": "password",
+        #  "token": "token",
+        #  "ip": "ip",
+        #  "action": "publish|read|playback|api|metrics|pprof",
+        #  "path": "path",
+        #  "protocol": "rtsp|rtmp|hls|webrtc|srt",
+        #  "id": "id",
+        #  "query": "query",
+        #  "userAgent": "userAgent"
+        # }
+        # This route will be unprotected.
+        request_dict = await request.json()
+        print("Got request: {}", request_dict)
+        # Only allowing reads for now.
+        if request_dict["action"] != "read":
+            return web.Response(status=401)
+        valid_token = self._mediamtx_authenticator.confirm_token(request_dict["token"])
+        if valid_token:
+            return web.Response(status=200)
+        return web.Response(status=401)
+
+    async def mediamtx_login(self, request):
+        # Generate a valid token for the mediamtx stuff to use to login
+        # with.
+        token = self._mediamtx_authenticator.make_token()
+        resp = {"token": token}
+        return web.json_response(resp)
+
+    async def login(self, request):
+        request_dict = await request.json()
+        login_successful = self._authenticator.confirm_creds(request_dict["password"])
+        if not login_successful:
+            return web.Response(status=400)
+
+        redirect_location = f"{request.url.scheme}://{request.url.host_port_subcomponent}/"
+        redirect_header = {"Location": redirect_location}
+        response = web.Response(status=302, headers=redirect_header)
+        response.set_cookie(self._authenticator.cookie_name(),
+                            self._authenticator.make_cookie_for_user(),
+                            secure=False,
+                            httponly=False,
+                            samesite="Strict")
+        return response
+
     async def index(self, request):
         ui_share_directory =  get_package_share_directory(self._facts.get_ui_pkg())
         ui_index_path = ui_share_directory + "/dist/index.html"
@@ -64,6 +135,17 @@ class Api:
         resp = {"uptime": self._facts.get_uptime()}
         return web.json_response(resp)
 
+    async def version_number(self, request):
+        version = self._facts.get_version()
+        if not version:
+            resp = {"status": False, "message": "version not found."}
+            return web.json_response(resp)
+        resp = {
+            "status": True,
+            "version": version
+        }
+        return web.json_response(resp)
+
     async def build_info(self, request):
         project_state = self._facts.get_buildinfo()
         if not project_state:
@@ -79,20 +161,13 @@ class Api:
         env = self._facts.get_env()
         return web.json_response(env)
 
-    async def status(self, request):
+    async def identity(self, request):
-        status = self._facts.get_status()
+        identity = self._facts.get_identity()
-        if not status:
+        if not identity:
-            status = "Nothing received!"
+            identity = "Nothing received!"
-        resp = {"message": status}
+        resp = {"message": identity}
         return web.json_response(resp)
 
-    async def costmap_image(self, request):
-        (image_format, image_data) = self._facts.get_costmap_image()
-        if (not image_format) or (not image_data):
-            raise web.HTTPUnsupportedMediaType()
-        resp = web.Response(body=image_data, content_type='image/{}'.format(image_format))
-        return resp
-
     async def position(self, request):
         resp = {}
         (lat, lon) = self._facts.get_lat_long()
@@ -104,3 +179,19 @@ class Api:
         resp["longitude"] = lon
         return web.json_response(resp)
 
+    async def diagnostics(self, request):
+        resp = {}
+        diagnostics = self._facts.get_diagnostics_json()
+        if not diagnostics:
+            resp["status"] = False
+            return web.json_response(resp)
+        resp["status"] = True
+        resp["message"] = diagnostics
+        return web.json_response(resp)
+
+    async def available_streams(self, request):
+        resp = {}
+        resp["streams"] = self._facts.get_video_streams()
+        resp["port"] = self._facts.get_video_display_port()
+        return web.json_response(resp)
+

am_i_up/Authenticator.py

@@ -0,0 +1,47 @@
+from aiohttp import web
+import secrets
+import re
+
+# TODO: Note here about how this is not supposed to be put on the
+# internet and if you wanted to do that it needs to be done
+# differently.
+
+class Authenticator():
+    def __init__(self, password, open_endpoints):
+        self._password = password
+        self._open_endpoints = open_endpoints
+        self._valid_cookies = []
+
+    def confirm_creds(self, password):
+        return secrets.compare_digest(password, self._password)
+
+    def make_cookie_for_user(self):
+        cookie = secrets.token_urlsafe(32)
+        # TODO: Normally these would expire, but we're assuming
+        # this app gets closed like once a day so.
+        self._valid_cookies.append(cookie)
+        return cookie
+
+    def confirm_user_from_cookie(self, cookie):
+        return cookie in self._valid_cookies
+
+    def cookie_name(self):
+        return "auth_cookie"
+
+    def build_middleware(self):
+        @web.middleware
+        async def auth_middleware(request, handler):
+            for open_endpoint in self._open_endpoints:
+                if re.fullmatch(open_endpoint, request.path):
+                    return await handler(request)
+            if self.cookie_name() in request.cookies:
+                cookie = request.cookies[self.cookie_name()]
+                if self.confirm_user_from_cookie(cookie):
+                    return await handler(request)
+            redirect_location = f"{request.url.scheme}://{request.url.host_port_subcomponent}/login"
+            redirect_header = {"Location": redirect_location}
+            return web.Response(status=302, headers=redirect_header)
+
+        return auth_middleware
+
+

am_i_up/Facts.py

@@ -8,39 +8,67 @@
 # This Source Code Form is "Incompatible With Secondary Licenses", as
 # defined by the Mozilla Public License, v. 2.0.
 #
+import rclpy
+from ament_index_python import get_package_share_directory
+from std_msgs.msg import String
+from sensor_msgs.msg import CompressedImage
+from sensor_msgs.msg import NavSatFix
+from diagnostic_msgs.msg import DiagnosticArray
+from diagnostic_msgs.msg import DiagnosticStatus
+import asyncio
 import time
 import ipaddress
 import subprocess
 import os
 import yaml
-from ament_index_python import get_package_share_directory
+import j7s_diagnostics_py
-
+import json
-from am_i_up.Ros import Ros
 
 class Facts:
     def __init__(self):
-        self._ros = Ros()
+
+        rclpy.init()
+        self._node = rclpy.create_node('am_i_up')
+
+        self._ident_sub = self._node.create_subscription(String, "identity", self._identity_callback, 1)
+        self._navsat_sub = self._node.create_subscription(NavSatFix, "navsatfix", self._navsat_callback, 1)
+        self._diagnostics_sub = self._node.create_subscription(DiagnosticArray, "/diagnostics_agg", self._diag_callback, 1)
+
+        self._listen_port = self._node.declare_parameter("listen_port", "8888").value
+        self._ui_pkg = self._node.declare_parameter("ui_pkg", "am_i_up_ui").value
+
+        self._password = self._node.declare_parameter("password", "password").value
+
+        self._video_streams = self._node.declare_parameter("video_streams", [""]).value
+        self._video_display_port = self._node.declare_parameter("video_display_port", "8889").value
+
+        self._identity_string = None
+        self._lat_long = None
+        self._diag_msg = None
 
         self._start_time = time.monotonic()
-        self._status_string = None
 
     async def run(self):
-        await self._ros.run()
+        while rclpy.ok():
+            rclpy.spin_once(self._node, timeout_sec=0)
+            await asyncio.sleep(1e-4)
 
     def get_lat_long(self):
-        return self._ros.get_lat_long()
+        return self._lat_long
 
-    def get_costmap_image(self):
+    def get_identity(self):
-        return self._ros.get_costmap_image()
+        return self._identity_string
-
-    def get_status(self):
-        return self._ros.get_status_string()
 
     def get_listen_port(self):
-        return self._ros.get_listen_port()
+        return self._listen_port
 
     def get_ui_pkg(self):
-        return self._ros.get_ui_pkg()
+        return self._ui_pkg
+
+    def get_diagnostics_json(self):
+        if not self._diag_msg:
+            return None
+        return diag_msg_to_json(self._diag_msg)
 
     def get_uptime(self):
         return time.monotonic() - self._start_time
@@ -91,6 +119,85 @@ class Facts:
             print("Can't find build info.\n{}".format(e))
         return project_state_content
 
+    def get_version(self):
+        # Find the share directory for 'build_info_getter'.
+        build_info_getter_directory = None
+        try:
+            build_info_getter_directory = get_package_share_directory('build_info_getter')
+        except Exception as e:
+            print("Can't find build info.\n{}".format(e))
+            return None
+        # Find and read the version file in int.
+        version_number_file = build_info_getter_directory + "/version_number"
+        version_number = None
+        try:
+            with open(version_number_file, 'r') as file_obj:
+                version_number = file_obj.readline().rstrip()
+        except Exception as e:
+            # We either didn't load the file or couldn't read it.
+            print("Can't find build info.\n{}".format(e))
+
+        return version_number
+
+    def get_password(self):
+        return self._password
+
+    def get_video_streams(self):
+        return self._video_streams
+
+    def get_video_display_port(self):
+        return self._video_display_port
+
+    def _identity_callback(self, msg):
+        self._identity_string = msg.data
+
+    def _diag_callback(self, msg):
+        self._diag_msg = msg
+
+    def _navsat_callback(self, msg):
+        self._lat_long = (msg.latitude, msg.longitude)
+
+def diag_level_to_rust(level):
+    if level == DiagnosticStatus.OK:
+        return j7s_diagnostics_py.DiagnosticLevel.OK
+    if level == DiagnosticStatus.WARN:
+        return j7s_diagnostics_py.DiagnosticLevel.WARN
+    if level == DiagnosticStatus.ERROR:
+        return j7s_diagnostics_py.DiagnosticLevel.ERROR
+    if level == DiagnosticStatus.STALE:
+        return j7s_diagnostics_py.DiagnosticLevel.STALE
+    return j7s_diagnostics_py.DiagnosticLevel.UNSET
+
+def key_values_to_dict(values):
+    to_return = {}
+    for value in values:
+        to_return[value.key] = value.value
+    return to_return
+
+def diag_status_to_rust(status):
+    rust = j7s_diagnostics_py.DiagnosticStatus()
+    rust.level = diag_level_to_rust(status.level)
+    rust.name = status.name
+    rust.message = status.message
+    rust.hardware_id = status.hardware_id
+    rust.values = key_values_to_dict(status.values)
+
+    return rust
+
+def diag_msg_to_json(diagnostic_array):
+    # Make a DiagnosticTree.
+    tree = j7s_diagnostics_py.DiagnosticsTree()
+    # Iterate through the statuses in message.
+    for status in diagnostic_array.status:
+        # Convert the statues to the type used by the tree.
+        rust_status = diag_status_to_rust(status)
+        # Insert them into the tree.
+        tree.insert(rust_status)
+    # Call the to json function.
+    tree.reconcile_levels()
+    json_string = tree.to_json()
+    return json.loads(json_string)
+
 
 def is_valid_ip(address):
     try:

am_i_up/MediaMTXAuthenticator.py

@@ -0,0 +1,25 @@
+from datetime import datetime, timedelta
+import secrets
+
+class MediaMTXAuthenticator():
+    def __init__(self):
+        # Type: Dict["token"] -> expiration time
+        self._valid_tokens = {}
+
+    def confirm_token(self, token):
+        if not token in self._valid_tokens.keys():
+            return False
+        token_expiration_time = self._valid_tokens[token]
+        now = datetime.now()
+        if now < token_expiration_time:
+            return True
+        return False
+
+    def make_token(self):
+        token = secrets.token_urlsafe(32)
+        expiration_time = datetime.now() + timedelta(minutes=1)
+        self._valid_tokens[token] = expiration_time
+
+        return token
+
+

am_i_up/Ros.py

@@ -1,64 +0,0 @@
-#
-# Copyright 2025 James Pace
-#
-# This Source Code Form is subject to the terms of the Mozilla Public
-# License, v. 2.0. If a copy of the MPL was not distributed with this
-# file, You can obtain one at https://mozilla.org/MPL/2.0/.
-#
-# This Source Code Form is "Incompatible With Secondary Licenses", as
-# defined by the Mozilla Public License, v. 2.0.
-#
-import rclpy
-from std_msgs.msg import String
-from sensor_msgs.msg import CompressedImage
-from sensor_msgs.msg import NavSatFix
-import asyncio
-
-class Ros:
-    def __init__(self):
-        rclpy.init()
-        self._node = rclpy.create_node('am_i_up')
-
-        self._status_sub = self._node.create_subscription(String, "status", self._status_callback, 1)
-        self._image_sub = self._node.create_subscription(CompressedImage, "image/compressed", self._image_callback, 1)
-        self._navsat_sub = self._node.create_subscription(NavSatFix, "navsatfix", self._navsat_callback, 1)
-
-        self._listen_port = self._node.declare_parameter("listen_port", "8888").value
-        self._ui_pkg = self._node.declare_parameter("ui_pkg", "am_i_up_ui").value
-
-        self._status_string = None
-        self._lat_long = None
-        self._costmap_image = None
-
-    def get_status_string(self):
-        return self._status_string
-
-    def get_lat_long(self):
-        return self._lat_long
-
-    def get_costmap_image(self):
-        return self._costmap_image
-
-    def get_listen_port(self):
-        return self._listen_port
-
-    def get_ui_pkg(self):
-        return self._ui_pkg
-
-    async def run(self):
-        while rclpy.ok():
-            rclpy.spin_once(self._node, timeout_sec=0)
-            await asyncio.sleep(1e-4)
-
-    def _status_callback(self, msg):
-        self._status_string = msg.data
-
-    def _navsat_callback(self, msg):
-        self._lat_long = (msg.latitude, msg.longitude)
-
-    def _image_callback(self, msg):
-        if msg.format != "jpg" and msg.format != "png":
-            # I don't know what to do with this image....
-            return
-        self._costmap_image = (msg.format, bytes(msg.data))
-

am_i_up/client.py

@@ -8,6 +8,7 @@
 # This Source Code Form is "Incompatible With Secondary Licenses", as
 # defined by the Mozilla Public License, v. 2.0.
 #
+import argparse
 import aiohttp
 import asyncio
 import rclpy
@@ -15,53 +16,96 @@ import json
 
 def main(args=None):
 
-    rclpy.init(args=args)
+    parser = argparse.ArgumentParser()
-    node = rclpy.create_node('am_i_up_client')
+    parser.add_argument("--action")
+    parser.add_argument("--options", nargs="*")
+    parser.add_argument("--host", default="http://localhost:8000")
+    args = parser.parse_args()
 
-    action = node.declare_parameter('action', value="").value
+    client = Client(args.host)
-    options = node.declare_parameter('options', value=[""]).value
 
-    if "" == action:
+    if args.action == 'ping':
-        raise RunTimeError("Need to provide an action to take.")
+        asyncio.run(client.call_ping(args.options))
+    if args.action == 'uptime':
+        asyncio.run(client.call_uptime())
+    if args.action == 'build_info':
+        asyncio.run(client.call_build_info())
+    if args.action == 'env':
+        asyncio.run(client.call_env())
+    if args.action == 'diagnostics':
+        asyncio.run(client.call_diagnostics())
+    if args.action == 'identity':
+        asyncio.run(client.call_identity())
+    if args.action == 'version':
+        asyncio.run(client.call_version())
 
-    if action == 'ping':
+class Client():
-        asyncio.run(call_ping(options))
+    def __init__(self, host):
-    if action == 'uptime':
+        self._host = host
-        asyncio.run(call_uptime())
-    if action == 'build_info':
-        asyncio.run(call_build_info())
-    if action == 'env':
-        asyncio.run(call_env())
 
-async def call_ping(options):
+    async def login(self, session):
-    if len(options) != 1 or options[0] == "":
+        request = { "password": "password" }
-        raise RunTimeError("Ping option is an address as a string.")
+        async with session.post(f'{self._host}/api/login', json=request) as resp:
+            if not resp.ok:
+                print("Login failed.")
 
-    request = {"address": options[0]}
+    async def call_ping(self, options):
+        if len(options) != 1 or options[0] == "":
+            raise RunTimeError("Ping option is an address as a string.")
 
-    print("Calling ping with request: {}", json.dumps(request))
+        request = {"address": options[0]}
 
-    async with aiohttp.ClientSession() as session:
+        print("Calling ping with request: {}", json.dumps(request))
-        async with session.get('http://localhost:8888/api/ping', json=request) as resp:
-            print(await resp.text())
 
-async def call_uptime():
+        async with aiohttp.ClientSession() as session:
-    print("Calling uptime.")
+            await self.login(session)
+            async with session.get(f'{self._host}/api/ping', json=request) as resp:
+                print(await resp.text())
 
-    async with aiohttp.ClientSession() as session:
+    async def call_uptime(self):
-        async with session.get('http://localhost:8888/api/uptime') as resp:
+        print("Calling uptime.")
-            print(await resp.text())
 
-async def call_build_info():
+        async with aiohttp.ClientSession() as session:
-    print("Calling build_info.")
+            await self.login(session)
+            async with session.get(f'{self._host}/api/uptime') as resp:
+                print(await resp.text())
 
-    async with aiohttp.ClientSession() as session:
+    async def call_build_info(self):
-        async with session.get('http://localhost:8888/api/build_info') as resp:
+        print("Calling build_info.")
-            print(await resp.text())
 
-async def call_env():
+        async with aiohttp.ClientSession() as session:
-    print("Calling env.")
+            await self.login(session)
+            async with session.get(f'{self._host}/api/build_info') as resp:
+                print(await resp.text())
 
-    async with aiohttp.ClientSession() as session:
+    async def call_env(self):
-        async with session.get('http://localhost:8888/api/env') as resp:
+        print("Calling env.")
-            print(await resp.text())
+
+        async with aiohttp.ClientSession() as session:
+            await self.login(session)
+            async with session.get(f'{self._host}/api/env') as resp:
+                print(await resp.text())
+
+    async def call_identity(self):
+        print("Calling identity.")
+
+        async with aiohttp.ClientSession() as session:
+            await self.login(session)
+            async with session.get(f'{self._host}/api/identity') as resp:
+                print(await resp.text())
+
+    async def call_version(self):
+        print("Calling version.")
+
+        async with aiohttp.ClientSession() as session:
+            await self.login(session)
+            async with session.get(f'{self._host}/api/version_number') as resp:
+                print(await resp.text())
+
+    async def call_diagnostics(self):
+        print("Calling diagnostics.")
+
+        async with aiohttp.ClientSession() as session:
+            await self.login(session)
+            async with session.get(f'{self._host}/api/diagnostics') as resp:
+                print(await resp.text())

am_i_up/server.py

@@ -13,9 +13,11 @@ from am_i_up.Facts import Facts
 
 import asyncio
 
-def main():
+async def main():
     facts = Facts()
     api = Api(facts)
 
     future = asyncio.gather(api.run(), facts.run())
-    asyncio.get_event_loop().run_until_complete(future)
+    await future
+
+asyncio.run(main())

assets/login.html

@@ -0,0 +1,54 @@
+<!doctype html>
+<html lang="en">
+  <head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1">
+    <title>Login</title>
+    <link href="server_assets/bootstrap.css" rel="stylesheet">
+    <style>
+      .vert-padded {
+        padding-top: 10px;
+        padding-bottom: 10px;
+      }
+    </style>
+  </head>
+  <body>
+
+    <div>
+      <div class="container vert-padded">
+        <form id="loginForm">
+          <div class="mb-3">
+            <label for="passwordForm" class="form-label">Password</label>
+            <input name="password" type="password" class="form-control" id="passwordForm" />
+          </div>
+          <button type="submit" class="btn btn-primary">Submit</button>
+        </form>
+      </div>
+    </div>
+
+    <script>
+      console.log("Hi Developer! This page lives with the server package NOT the ui package.");
+      document.getElementById('loginForm').addEventListener('submit', async (event) => {
+        console.log("submit");
+        event.preventDefault();
+
+        console.log(event.target);
+        const formEntries = new FormData(event.target);
+        const formData = Object.fromEntries(formEntries);
+        console.log(formData);
+
+        const resp = await fetch("/api/login", {
+          method: "POST",
+          headers: {
+            "Content-Type": "application/json",
+          },
+          body: JSON.stringify(formData),
+        });
+        if (resp.redirected) {
+            window.location.assign("/");
+        }
+      });
+    </script>
+    <script src="server_assets/bootstrap.bundle.js"</script>
+  </body>
+</html>

launch/data_simulators.launch.xml

@@ -6,9 +6,23 @@
     <param from="$(find-pkg-share am_i_up)/params/image2rtsp.yaml"/>
   </node>
 
+  <!-- j7s threed -->
+  <node pkg="data_simulator" exec="frame_publisher" name="frame_publisher" />
+  <node pkg="j7s_threed" exec="j7s_threed_node" name="threed_node">
+    <param from="$(find-pkg-share j7s_threed)/params/threed_world.yaml" allow_substs="true"/>
+    <remap from="image" to="threed_image"/>
+  </node>
+  <node pkg="image2rtsp" exec="image2rtsp" name="image2rtsp">
+    <env name="GST_DEBUG" value=""/> <!-- Setting to 3 can help if its not working -->
+    <param from="$(find-pkg-share am_i_up)/params/j7s_threed_image2rtsp.yaml"/>
+  </node>
+
   <!-- Vehicle Position -->
   <node pkg="data_simulator" exec="position_publisher" name="position_publisher" />
 
+  <!-- Identity -->
+  <node pkg="data_simulator" exec="identity_publisher" name="identity_publisher" />
+
   <!-- Diagnostics -->
   <node pkg="data_simulator" exec="diagnostic_publisher" name="diagnostic_1">
     <param name="diag_level" value="OK"/>

package.xml

@@ -12,6 +12,7 @@
   <depend>python3-aiohttp</depend>
   <!-- TODO: Run time dep on ping -->
 
+  <exec_depend>j7s_diagnostics_py</exec_depend>
   <exec_depend>rclpy</exec_depend>
 
   <export>

params/am_i_up.yaml

@@ -1,4 +1,8 @@
 /**:
    ros__parameters:
       ui_pkg: "am_i_up_ui"
-      listen_port: "8000"
+      listen_port: "8000"
+      video_display_port: "8889"
+      video_streams:
+         - image
+         - threed_image

params/j7s_threed_image2rtsp.yaml

@@ -0,0 +1,14 @@
+/**:
+   ros__parameters:
+      topic: "threed_image"
+      mountpoint: "/threed_image"
+      port: "8560"
+      local_only: True
+      default_pipeline: |
+            ( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true !
+              videoconvert !
+              videoscale !
+              video/x-raw, framerate=30/1, width=1280, height=720 !
+              x264enc tune=zerolatency bitrate=500 key-int-max=30 !
+              video/x-h264, profile=baseline !
+              rtph264pay name=pay0 pt=96 )

params/mediamtx.yaml

@@ -1,3 +1,8 @@
+authMethod: http
+authHTTPAddress: http://127.0.0.1:8000/api/mediamtx/auth
+authHTTPExclude: []
 paths:
   image:
-    source: rtsp://127.0.0.1:8559/image
+    source: rtsp://127.0.0.1:8559/image
+  threed_image:
+    source: rtsp://127.0.0.1:8560/threed_image