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
@@ -0,0 +1,65 @@
+# ── Stage 1: full install — source for cherry-picked plugins ────────────
+FROM ros:kilted-ros-core AS gst-builder
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    gstreamer1.0-plugins-base \
+    gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-nice \
+    && rm -rf /var/lib/apt/lists/*
+
+# Copy only the 8 plugin .so files the pipeline actually uses.
+# Each plugin bundle (plugins-base/good/bad/nice) contains dozens more
+# that we never touch; leaving them out keeps the runtime image lean.
+RUN set -e && ARCH=$(uname -m)-linux-gnu && \
+    mkdir /gst-select && \
+    for p in \
+        libgstapp.so \
+        libgstvideoconvertscale.so \
+        libgstvpx.so \
+        libgstrtp.so \
+        libgstrtpmanager.so \
+        libgstwebrtc.so \
+        libgstdtls.so \
+        libgstsrtp.so \
+        libgstnice.so \
+    ; do cp /usr/lib/${ARCH}/gstreamer-1.0/${p} /gst-select/; done
+
+# ── Stage 2: lean runtime ───────────────────────────────────────────────
+FROM ros:kilted-ros-core
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    # GStreamer core runtime and base utility libs (libgstvideo etc.) — no plugins
+    libgstreamer1.0-0 \
+    libgstreamer-plugins-base1.0-0 \
+    # Python GI bindings + WebRTC/SDP typelibs; pulls libgstreamer-plugins-bad1.0-0
+    python3-gi \
+    gir1.2-gst-plugins-bad-1.0 \
+    # Shared libs the cherry-picked plugins link against
+    libvpx9 \
+    libnice10 \
+    libsrtp2-1 \
+    liborc-0.4-0t64 \
+    # App deps
+    python3-numpy \
+    python3-websockets \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install cherry-picked plugins and refresh the linker cache
+COPY --from=gst-builder /gst-select/ /tmp/gst-select/
+RUN ARCH=$(uname -m)-linux-gnu && \
+    cp /tmp/gst-select/*.so /usr/lib/${ARCH}/gstreamer-1.0/ && \
+    rm -rf /tmp/gst-select && \
+    ldconfig
+
+WORKDIR /app
+COPY webrtc_streamer.py .
+COPY entrypoint.sh .
+RUN chmod +x entrypoint.sh
+
+ENV IMAGE_TOPIC=/camera/image_raw
+ENV PORT=8443
+ENV BITRATE=2000000
+
+EXPOSE 8443
+ENTRYPOINT ["./entrypoint.sh"]