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 +1,40 @@
+# WebRTC Streamer
+
+ROS 2 node that subscribes to a camera image topic, encodes frames as VP8 via GStreamer, and streams them to browsers over WebRTC.
+
+A single encode pass is shared across all connected clients.
+
+---
+
+## Architecture
+
+```
+/camera/image_raw → webrtc_streamer → WebSocket :8443 → Browser
+  (ROS 2 topic)      (VP8 encode)      (signaling)
+```
+
+---
+
+## Subscribed topics
+
+| Topic | Type | Description |
+|---|---|---|
+| `IMAGE_TOPIC` | `sensor_msgs/Image` | Camera frames to encode and stream |
+
+---
+
+## Environment variables
+
+| Variable | Default | Description |
+|---|---|---|
+| `IMAGE_TOPIC` | `/camera/image_raw` | ROS 2 topic to subscribe to |
+| `PORT` | `8443` | WebSocket signaling port |
+| `BITRATE` | `2000000` | VP8 target bitrate in bps |
+
+---
+
+## Connecting a browser
+
+Open `client.html` (located in this directory) in any browser that can reach the host. Enter the server hostname or IP and click **Connect**.
+
+The client connects to `ws://<host>:8443` for WebRTC signaling. No TURN server is required for LAN use.