Mirror/ros_rtsp
5
0
Fork 0
mirror of https://github.com/CircusMonkey/ros_rtsp.git synced 2025-03-03 09:13:48 -04:00
Code Issues Packages Projects Releases Wiki Activity

Added mpv example command. Changed VLC section.

Browse Source
This commit is contained in:
circusmonkey 2022-05-05 21:39:28 +10:00
parent a3a5c539cc
commit e7e9dc47a5
1 changed files with 20 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
README.md
View File

@ -30,23 +30,23 @@ catkin_make pkg:=ros_rtsp
Change the `config/stream_setup.yaml` to suit your required streams. Change the `config/stream_setup.yaml` to suit your required streams.
```yaml ```yaml
# Set up your streams to rtsp here. # Set up your streams for rtsp here.
streams: # Cannot rename - must leave this as is. streams:
# Example v4l2 camera stream # Example v4l2 camera stream
stream-x: # Can name this whatever you choose stream-1: # Can name this whatever you choose
type: cam # cam - Will not look in ROS for a image. The video src is set in the 'source' parameter. type: cam # cam - Will not look in ROS for a image. The video src is set in the 'source' parameter.
source: "v4l2src device=/dev/video0 ! videoconvert ! videoscale ! video/x-raw,framerate=15/1,width=1280,height=720" # Should work with most valid gstreamer piplines (ending with raw video) source: "v4l2src device=/dev/video0 ! videoconvert ! videoscale ! video/x-raw,framerate=15/1,width=1280,height=720" # You can enter any valid gstreamer source and caps here as long as it ends in raw video
mountpoint: /front # Choose the mountpoint for the rtsp stream. This will be able to be accessed from rtsp://<server_ip>/front mountpoint: /front # Choose the mountpoint for the rtsp stream. This will be able to be accessed from rtsp://<server_ip>/front
bitrate: 800 # bitrate for the h264 encoding. bitrate: 800 # bitrate for the h264 encoding.
# Example ROS Image topic stream # Example ROS Image topic stream
this-is-stream-42: # Can name this whatever you choose stream2:
type: topic # topic - Image is sourced from a sensor_msgs::Image topic type: topic # topic - Image is sourced from a sensor_msgs::Image topic
source: /usb_cam0/image_raw # The ROS topic to subscribe to source: /usb_cam0/image_raw # The ROS topic to subscribe to
mountpoint: /back # Choose the mountpoint for the rtsp stream. This will be able to be accessed from rtsp://<server_ip>/back mountpoint: /back # Choose the mountpoint for the rtsp stream. This will be able to be accessed from rtsp://<server_ip>/back
caps: video/x-raw,framerate=10/1,width=640,height=480 # Set the caps to be applied after getting the ROS Image and before the x265 encoder. caps: video/x-raw,framerate=10/1,width=640,height=480 # Set the caps to be applied after getting the ROS Image and before the x265 encoder.
bitrate: 500 # bitrate for the h264 encoding. bitrate: 500
``` ```
Add as many streams as you require. Add as many streams as you require.
@ -56,17 +56,25 @@ Launch the streams from the ROS launch file:
roslaunch ros_rtsp rtsp_streams.launch roslaunch ros_rtsp rtsp_streams.launch
``` ```
In the following examples, replace the `rtsp://127.0.0.1:8554/front` with your servers IP address and mount point `rtsp://YOUR_IP:8554/MOUNT_POINT`.
### gstreamer ### gstreamer
The best way to check a stream is working is to use `gst-launch-1.0`. You will need to install gstreamer for your client system. See https://gstreamer.freedesktop.org/documentation/installing/index.html Use `gst-launch-1.0`. You will need to install gstreamer for your client system. See https://gstreamer.freedesktop.org/documentation/installing/index.html
```bash ```bash
gst-launch-1.0 -v rtspsrc location=rtsp://<server_ip>:8554/<your_stream_mountpoint> drop-on-latency=true use-pipeline-clock=true do-retransmission=false latency=0 protocols=GST_RTSP_LOWER_TRANS_UDP ! rtph264depay ! h264parse ! avdec_h264 ! autovideosink sync=true gst-launch-1.0 -v rtspsrc location=rtsp://127.0.0.1:8554/front drop-on-latency=true use-pipeline-clock=true do-retransmission=false latency=0 protocols=GST_RTSP_LOWER_TRANS_UDP ! rtph264depay ! h264parse ! avdec_h264 ! autovideosink sync=true
```
### mpv
```bash
mpv --no-cache --untimed --no-demuxer-thread --vd-lavc-threads=1 rtsp://127.0.0.1:8554/front
``` ```
### VLC ### VLC
The command I've had the lowest latency with is: VLC adds way too much latency. Please don't use it for this purpose. If you want to try, this is the command that was the least slow (Let me know if you find a better command):
```bash ```bash
vlc --no-audio --avcodec-hw=any --sout-rtp-proto=udp --network-caching=300 --sout-udp-caching=0 --clock-jitter=0 --rtp-max-misorder=0 rtsp://<server_ip>:8554/<your_stream_mountpoint> :udp-timeout=0 cvlc --no-audio --mux none --demux none --deinterlace 0 --no-autoscale --avcodec-hw=any --no-auto-preparse --sout-rtp-proto=udp --network-caching=300 --realrtsp-caching=0 --sout-udp-caching=0 --clock-jitter=0 --rtp-max-misorder=0 rtsp://127.0.0.1:8554/front :udp-timeout=0
``` ```
If you wish to use the VLC mobile app to stream on Android or iOS, navigate to the network or streams menu and type in your server URL and mountpoint e.g. `rtsp://127.0.0.1:8554/front`
## Debugging ## Debugging