80 lines
4.3 KiB
Markdown
80 lines
4.3 KiB
Markdown
## Acknowledgement
|
|
This project is a migration from ROS1 to ROS2. The original code was developed by [CircusMonkey](https://github.com/CircusMonkey/ros_rtsp/tree/master). I would like to express my gratitude for his contribution.
|
|
|
|
## image2rtsp
|
|
This project enables the conversion of a selected ROS2 topic of type `sensor_msgs::msg::Image` into an `RTSP` stream, with an anticipated delay of approximately 30-50ms. The generated stream can be utilized for various purposes such as remote control, object detection tasks, monitoring, and more. Please note that the migration process is ongoing, and therefore, the complete functionality of the original package is not yet available.
|
|
|
|
The development is being carried out on Ubuntu 20.04 with ROS2 Foxy, also tested on Ubuntu 22.04 with ROS2 Humble.
|
|
|
|
You are reading now the README for a **default** ROS2 package. If you want to use this package written as a ROS2 component, checkout `ros2_component` branch.
|
|
## Dependencies
|
|
- ROS2 Foxy/Humble
|
|
|
|
- gstreamer libs:
|
|
```bash
|
|
sudo apt-get install libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev libgstreamer-plugins-bad1.0-dev libgstrtspserver-1.0-dev gstreamer1.0-plugins-ugly gstreamer1.0-plugins-bad
|
|
```
|
|
## Install
|
|
- Navigate to the root directory, create a new directory named `ros2_ws/src`, and then change the current working directory to `ros2_ws/src`:
|
|
```bashrc
|
|
cd
|
|
mkdir -p ros2_ws/src
|
|
cd ros2_ws/src/
|
|
```
|
|
- Clone the package and then navigate into the directory `image2rtsp`:
|
|
```bashrc
|
|
git clone https://github.com/maladzenkau/image2rtsp.git --single-branch
|
|
```
|
|
- Check the framerate of the topic to be subscribed:
|
|
```bashrc
|
|
ros2 topic hz /someTopic
|
|
```
|
|
- Adjust `parameters.yaml` according to your needs:
|
|
```bashrc
|
|
gedit ~/ros2_ws/src/image2rtsp/config/parameters.yaml
|
|
```
|
|
# Example ROS2 Image topic stream
|
|
topic: "/color/image_raw" # The ROS2 topic to subscribe to
|
|
mountpoint: "/back" # Choose the mountpoint for the rtsp stream.
|
|
# This will be able to be accessed from rtsp://<server_ip>/portAndMountpoint
|
|
bitrate: "500"
|
|
framerate: "30" # Make sure that your framerate corresponds to the frequency of a topic you are subscribing to
|
|
caps_1: "video/x-raw,framerate="
|
|
capr_2: "/1,width=640,height=480"
|
|
# Set the caps to be applied after getting the ROS2 Image and before the x265 encoder. Ignore
|
|
# framerate setting here.
|
|
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
|
|
- Save your configuration and navigate to `ros2_ws` colcon root, source and build the package:
|
|
```bashrc
|
|
cd ~/ros2_ws/
|
|
colcon build --packages-select image2rtsp
|
|
```
|
|
## Run
|
|
- Source `install` and launch the package:
|
|
```bashrc
|
|
source install/setup.bash
|
|
ros2 launch image2rtsp image2rtsp.launch.py
|
|
```
|
|
Don't use **`ros2 run`**!
|
|
|
|
## Check the stream
|
|
To check the stream, follow the instructions for gstreamer, mpv or VLC provided by [CircusMonkey](https://github.com/CircusMonkey/ros_rtsp/blob/master/README.md) or use python script provided in this package (ensure before that the open-cv library is installed, if not `pip install opencv-python`). Open new terminal, ensure that the topic to be converted exists and the RTSP stream is running. Then:
|
|
```bash
|
|
gedit ~/ros2_ws/src/image2rtsp/python/rtsp.py
|
|
```
|
|
Replace the `rtsp://127.0.0.1:8554/back` with your server's IP address, port and mount point `rtsp://YOUR_IP:PORT/MOUNT_POINT`. Save and run:
|
|
```bash
|
|
cd ~/ros2_ws/
|
|
source install/setup.bash
|
|
ros2 launch image2rtsp rtsp.launch.py
|
|
```
|
|
## Limitations
|
|
- As was previously mentioned, this package allows the conversion of only one topic into an RTSP Stream.
|
|
## To Do
|
|
- Add the camera directly as a source
|
|
- Add web camera ros2 topic formats
|
|
- Add compressed images formats (jpeg, png) |