/image2rtsp:
   ros__parameters:

      # If the source is a ros2 topic (default case)
      compressed:       False
      topic:            "camera/image"
      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=1920, height=1080 !
                          x264enc tune=zerolatency bitrate=500 key-int-max=30 !
                          video/x-h264, profile=baseline !
                          rtph264pay name=pay0 pt=96 )

      # 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:       "/live"
      port:             "8554"
      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,
                                 # use rtsp://192.186.20.20:portAndMountpoint