ros_rtsp/config/stream_setup.yaml

# Set up your streams to rtsp here.
#
# "type": ["cam" , "topic"] 
# 
# "source": 
#     if type=cam, location of v4l2 camera
#     if type=topic, the ROS Image topic to subscribe to. 
#
# Notes:
#     Use a lower framerate of 10/1 on ROS topics. 
#     There may be issues with appsrc 'media not prepared' errors if the framerate is too high.

streams:

  # stream-x:
  #   type: cam
  #   source: "v4l2src device=/dev/video0 ! videoconvert ! videoscale ! video/x-raw,framerate=15/1,width=1280,height=720"
  #   mountpoint: /front
  #   bitrate: 500

  # stream1:
  #   type: cam
  #   source: "v4l2src device=/dev/video0 ! videoconvert ! videoscale ! video/x-raw,framerate=15/1,width=1280,height=720"
  #   mountpoint: /back
  #   bitrate: 500

  stream-a:
    type: topic
    source: /usb_cam0/image_raw
    mountpoint: /front
    caps: video/x-raw,framerate=10/1,width=640,height=480
    bitrate: 500

  stream-yay:
    type: topic
    source: /usb_cam1/image_raw
    mountpoint: /back
    caps: video/x-raw,framerate=10/1,width=640,height=480
    bitrate: 500