Video Streaming for ROS web video server

Overview

This application allows for streaming video over WebRTC using ROS topics. It comprises three main components:

1. WebRTC Stream Publisher: Streams a ROS topic video stream using WebRTC.
2. Signaling Server: Manages signaling for WebRTC connections.
3. Receiver: Receives the WebRTC video stream and displays it.

WebRTC Stream Publisher

Dependencies:

• Python 3.6+
• aiortc, av, opencv-python, websockets

Description:

This script captures video from a specified ROS topic or a local video device and streams it using WebRTC. It can be configured to change the source, resolution, and framerate.

Usage:

• Run the script with Python.
• Ensure the ROS topic or local video device is correctly configured.

Key Components:

• CameraStreamTrack class: Captures video from a local device.
• VideoStreamFromPort class: Captures video from a ROS topic.
• Functions for handling WebRTC connections and ICE candidates.

Signaling Server

Dependencies:

• Python 3.6+
• websockets

Description:

This server facilitates the exchange of WebRTC signaling data between the publisher and the receiver. It maintains a list of connected clients and relays messages between them.

Usage:

• Run the script with Python.
• The server will listen on ws://localhost:8765.

Key Components:

• handler coroutine: Manages WebSocket connections and messages.
• clients set: Tracks connected clients.

Receiver

Dependencies:

• Python 3.6+
• aiortc, flask, opencv-python, websockets

Description:

This script establishes a WebRTC connection with the publisher to receive the video stream. It also runs a Flask server to display the received video stream in a web browser.

Usage:

• Run the script with Python.
• Access the stream via a web browser at http://38.242.137.75:5000.

Key Components:

• Flask app: Serves the web page for video display.
• Functions for handling WebRTC tracks and connections.

Installation

1. Clone the repository:

   git clone [repository-url]

2. Install dependencies:

   pip install aiortc av opencv-python websockets flask

3. Run the components:

   • Start the signaling server: python signaling_server.py
   • Run the WebRTC stream publisher: python webrtc_stream_publisher.py
   • Run the receiver: python receiver.py

4. Access the stream:

   • Open a web browser and go to http://38.242.137.75:5000.

Configuration

• Modify the source URL in the WebRTC stream publisher for different ROS topics or video devices.
• Adjust the resolution and framerate in the CameraStreamTrack class as needed.
• Ensure the signaling server URL is correctly set in both the publisher and receiver scripts.

Notes

• Change the IPs with your system IPs
• Ensure that all components are running on the same network for proper connectivity.
• The application is designed for educational and demonstration purposes and may require further optimization for production use.