refactored gstreamer pipeline

2025-05-31 17:27:49 +02:00
1 parent 9d7c6a10c3
commit c812ce9ada
@@ -1,22 +1,39 @@
 /image2rtsp:
   ros__parameters:

-      # If camera serves as a source
-      camera: False      
-      source: "v4l2src device=/dev/video0"
-
      # If the source is a ros2 topic (default case)
-      compressed: True
-      topic: "/image_raw/compressed"
+      compressed:       False
+      topic:            "color/image_raw"
+      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 !
+                          x264enc tune=zerolatency bitrate=500 key-int-max=30 !
+                          video/x-h264, profile=baseline !
+                          rtph264pay name=pay0 pt=96 )

-      # General setup
-      mountpoint: "/back"
-      bitrate: "500"
-      framerate: "30"
-      caps_1: "video/x-raw, framerate ="
-      caps_2: "/1,width=640,height=480"
-      port: "8554"
-      local_only: True     # 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,
-                           # use rtsp://192.186.20.20:portAndMountpoint
+      # Notice: The framerate setting does not affect the RTSP stream — it entirely depends on the ros2 topic frequency. 
+      # It is included in the pipeline and code for structural reasons. You can likely remove it from the pipeline without impacting the package's behavior.
+
+
+      # If camera serves as a source
+      camera:           False      
+      camera_pipeline:  |
+                        ( v4l2src device=/dev/video0 !
+                          videoconvert !
+                          videoscale !
+                          video/x-raw, framerate=30/1, width=640, height=480 !
+                          x264enc tune=zerolatency bitrate=500 key-int-max=30 !
+                          video/x-h264, profile=baseline !
+                          rtph264pay name=pay0 pt=96 )
+
+      # Notice: Here the framerate might be set to the camera framerate, otherwise "503 Service Unavailable" error will appear.
+
+      # RTSP setup
+      mountpoint:       "/back"
+      port:             "8554"
+      local_only:       True     # 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,
+                                 # use rtsp://192.186.20.20:portAndMountpoint