Add image and streaming from USB camera

Plus a little freshen up of the readme's
2026-05-07 16:38:36 +00:00
parent 59a019ed7b
commit ef78f19e72
18 changed files with 1080 additions and 327 deletions
@@ -99,3 +99,43 @@ services:
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
    restart: unless-stopped
+
+  camera_publisher:
+    build:
+      context: ./camera_publisher
+      platforms:
+        - linux/amd64
+        - linux/arm64
+    image: ${REGISTRY:-camera-publisher}:${TAG:-latest}
+    restart: unless-stopped
+    network_mode: host
+    ipc: host
+    devices:
+      - /dev/video0:/dev/video0
+      - /dev/video1:/dev/video1
+      - /dev/media0:/dev/media0
+    environment:
+      VIDEO_DEVICE: /dev/video0
+      WIDTH: 640
+      HEIGHT: 480
+      FPS: 30
+      CAMERA_FORMAT: mjpeg
+      CAMERA_NAMESPACE: /camera
+      FASTDDS_BUILTIN_TRANSPORTS: LARGE_DATA
+
+  webrtc_streamer:
+    build:
+      context: ./webrtc_streamer
+      platforms:
+        - linux/amd64
+        - linux/arm64
+    image: ${REGISTRY:-webrtc-streamer}:${TAG:-latest}
+    restart: unless-stopped
+    network_mode: host
+    ipc: host
+    environment:
+      IMAGE_TOPIC: /camera/image_raw
+      PORT: 8443
+      BITRATE: 2000000
+      FASTDDS_BUILTIN_TRANSPORTS: LARGE_DATA
+