ros_rtsp订阅Image类型topic转换为rtsp视频流

逃离我推掉我的手 2024-03-22 13:53 62阅读 0赞

#### 文章目录 ####

*  一、安装环境
 *  二、在catkin工作空间中构建
 *  三、设置流
 *  四、推出视频流
 *  五、验证视频流
 *   *  1、安装vlc拉流
     *  2、安装gstreamer拉流
     *  3、安装FFmpeg拉流

![在这里插入图片描述][e0a548fe111f409ab23fefa3a4da8391.png_pic_center]

## 一、安装环境 ##

*  ROS
 *  gstreamer development libs，包括base、good、bad和rtspserver:

sudo apt-get install libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev libgstreamer-plugins-bad1.0-dev libgstrtspserver-1.0-dev

## 二、在catkin工作空间中构建 ##

导航进入到我们的catkin工作空间下的 `src` 目录：

cd ~/Demo/rtspServer/src

从仓库克隆软件包

git clone https://github.com/CircusMonkey/ros_rtsp.git

返回工作空间的根目录，编译软件包:

cd ..
    catkin_make pkg:=ros_rtsp

![在这里插入图片描述][5291546045e84319a091f9b2ac216e13.png]

## 三、设置流 ##

修改`config/stream_setup.yaml` 来适配需要的流，你可以添加任意数量的流。主要修改的信息为`source、framerate、width和height`，其中framrate非常重要，10是最佳数字，不要在意你相机的真实fps。

# Set up your streams to rtsp here.
    streams: # Cannot rename - must leave this as is.
    
      # Example v4l2 camera stream
      stream-x:                 # 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.
        codec: cam              # codec - Which codec to encode the stream. Currently support `x264enc` and `nvh264enc`
        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) 
        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.
    
      # Example ROS Image topic stream
      this-is-stream-42:        # Can name this whatever you choose
        type: topic             # topic - Image is sourced from a sensor_msgs::Image topic
        codec: cam              # codec - Which codec to encode the stream. Currently support `x264enc` and `nvh264enc`
        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
        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.

![在这里插入图片描述][238e0af2c2cd4c4e998ff2c4afd79adf.png_pic_center]

## 四、推出视频流 ##

启动ros核心，再启动launch文件。

roscore
    roslaunch ros_rtsp rtsp_streams.launch

## 五、验证视频流 ##

### 1、安装vlc拉流 ###

sudo apt-get install vlc

VLC可视化界面打开网络串流即可。

### 2、安装gstreamer拉流 ###

检测一个流是否工作最好的方式是使用`gst-launch-1.0`， 你需要在你的客户端系统安装gstreamer，具体查看[gstreamer.freedesktop.org][]

![在这里插入图片描述][5cf8cfc1fabe434ebe393d56dba5325e.png]

安装好之后，输入下面命令进行检测：

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

### 3、安装FFmpeg拉流 ###

ffplay -i rtsp://<server_ip>:8554/<your_stream_mountpoint>

> 别人是你两倍的工作量，你却花别人两倍的时间做完，你=1/4别人。

[e0a548fe111f409ab23fefa3a4da8391.png_pic_center]: https://image.dandelioncloud.cn/pgy_files/images/2024/03/22/e55b66be462644db902b616927a2f89f.png
[5291546045e84319a091f9b2ac216e13.png]: https://image.dandelioncloud.cn/pgy_files/images/2024/03/22/6078ebdb21444014ae05b5edcf9cda81.png
[238e0af2c2cd4c4e998ff2c4afd79adf.png_pic_center]: https://image.dandelioncloud.cn/pgy_files/images/2024/03/22/1f264ae7e0354ebbbef7e5ab58841cf7.png
[gstreamer.freedesktop.org]: https://gstreamer.freedesktop.org/documentation/installing/index.html
[5cf8cfc1fabe434ebe393d56dba5325e.png]: https://image.dandelioncloud.cn/pgy_files/images/2024/03/22/f08a5738300b45d8a50a4f8eaeb01d7e.png