added rtsps support

config/parameters.yaml

@@ -2,15 +2,15 @@
    ros__parameters:
 
       # If the source is a ros2 topic (default case)
-      compressed:       [False,False,False]
+      compressed:       [False, False]
-      topic:            ["/topic1","/topic2","/topic3"]
+      topic:            ["/camera/camera/color/image_raw","/camera/object/vehicle"]
       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=640, height=480 !
+                          video/x-raw, framerate=30/1, width=1280, height=720 !
-                          x264enc tune=zerolatency bitrate=500 key-int-max=30 !
+                          x264enc tune=zerolatency bitrate=3000 key-int-max=30 !
-                          video/x-h264, profile=baseline !
+                          video/x-h264, profile=main !
                           rtph264pay name=pay0 pt=96 )
 
       # Notice: The framerate setting does not affect the RTSP stream — it entirely depends on the ros2 topic frequency. 
@@ -29,8 +29,11 @@
       # Notice: Here the framerate might be set to the camera framerate, otherwise "503 Service Unavailable" error will appear.
 
       # RTSP setup
-      mountpoint:       ["/1","/2","/3"]
+      mountpoint:       ["/rgb","/vehicle"]
       port:             "8554"
+      password_protect: True
+      username: "Test"
+      password: "123"
       local_only:       False     # True = rtsp://127.0.0.1:portAndMountpoint (The stream is accessible only from the local machine)
                                  # False = rtsp://0.0.0.0:portAndMountpoint (The stream is accessible from the outside) 
                                  # For example, to access the stream running on the machine with IP = 192.168.20.20,

include/image2rtsp.hpp

@@ -37,11 +37,15 @@ private:
     string pipeline;
     string default_pipeline;
     string camera_pipeline;
+    string username;
+    string password;
+    bool password_protect;
     uint framerate;
     bool local_only;
     bool camera;
 
     void video_mainloop_start();
+    void setup_auth(const char* username, const char* password);
     void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc);
     void topic_callback(const sensor_msgs::msg::Image::SharedPtr msg, Stream* stream);
     void compressed_topic_callback(const sensor_msgs::msg::CompressedImage::SharedPtr msg, Stream* stream);

src/image2rtsp.cpp

@@ -15,6 +15,9 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
     this->declare_parameter("local_only",   true);
     this->declare_parameter("camera",       false);
     this->declare_parameter("compressed",   is_compressed);
+    this->declare_parameter("username",   "test");
+    this->declare_parameter("password",   "123");
+    this->declare_parameter("password_protect",   false);
 
     this->declare_parameter("default_pipeline",   R"(
                                                     ( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true !
@@ -42,6 +45,9 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
     local_only       = this->get_parameter("local_only").as_bool();
     camera           = this->get_parameter("camera").as_bool();
     is_compressed    = this->get_parameter("compressed").as_bool_array();
+    username         = this->get_parameter("username").as_string();
+    password         = this->get_parameter("password").as_string();
+    password_protect = this->get_parameter("password_protect").as_bool();
     default_pipeline = this->get_parameter("default_pipeline").as_string();
     camera_pipeline  = this->get_parameter("camera_pipeline").as_string();
 
@@ -103,6 +109,9 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
 
     video_mainloop_start();
     rtsp_server = rtsp_server_create(port, local_only);
+    if (password_protect){
+        setup_auth(username.c_str(), password.c_str());  
+    }
     for (Stream &s : streams_) {
         s.appsrc = NULL;
         rtsp_server_add_url(s.mountpoint.c_str(), pipeline.c_str(), camera ? nullptr : (GstElement **)&s.appsrc);

src/video.cpp

@@ -21,6 +21,7 @@ void Image2rtsp::video_mainloop_start(){
     pthread_create(&tloop, NULL, &mainloop, NULL);
 }
 
+
 GstRTSPServer *Image2rtsp::rtsp_server_create(const std::string &port, const bool local_only){
     GstRTSPServer *server;
 
@@ -38,9 +39,40 @@ GstRTSPServer *Image2rtsp::rtsp_server_create(const std::string &port, const boo
     return server;
 }
 
+void Image2rtsp::setup_auth(const char* username, const char* password)
+{
+    GstRTSPAuth *auth;
+    GstRTSPToken *token;
+    gchar *basic;
+
+    /* create auth object */
+    auth = gst_rtsp_auth_new();
+
+    /* create token with media factory role */
+    token = gst_rtsp_token_new(
+        GST_RTSP_TOKEN_MEDIA_FACTORY_ROLE, G_TYPE_STRING, "user",
+        NULL);
+
+    /* create basic auth string */
+    basic = gst_rtsp_auth_make_basic(username, password);
+
+    /* add user */
+    gst_rtsp_auth_add_basic(auth, basic, token);
+
+    g_free(basic);
+    gst_rtsp_token_unref(token);
+
+    /* attach auth to server */
+    gst_rtsp_server_set_auth(rtsp_server, auth);
+
+    g_object_unref(auth);
+}
+
+
 void Image2rtsp::rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc){
     GstRTSPMountPoints *mounts;
     GstRTSPMediaFactory *factory;
+    GstRTSPPermissions *permissions; ////// security
 
     /* get the mount points for this server, every server has a default object
      * that be used to map uri mount points to media factories */
@@ -59,6 +91,18 @@ void Image2rtsp::rtsp_server_add_url(const char *url, const char *sPipeline, Gst
 
     gst_rtsp_media_factory_set_shared(factory, TRUE);
 
+    // Adding permissions
+    permissions = gst_rtsp_permissions_new();
+    gst_rtsp_permissions_add_role(permissions, "user",
+        GST_RTSP_PERM_MEDIA_FACTORY_ACCESS, G_TYPE_BOOLEAN, TRUE,
+        GST_RTSP_PERM_MEDIA_FACTORY_CONSTRUCT, G_TYPE_BOOLEAN, TRUE,
+        NULL);
+
+    gst_rtsp_media_factory_set_permissions(factory, permissions);
+    gst_rtsp_permissions_unref(permissions);
+
+    ///////////
+
     /* attach the factory to the url */
     gst_rtsp_mount_points_add_factory(mounts, url, factory);