# 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.

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## Architecture

```
/camera/image_raw → webrtc_streamer → WebSocket :8443 → Browser
  (ROS 2 topic)      (VP8 encode)      (signaling)
```

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## Subscribed topics

| Topic | Type | Description |
|---|---|---|
| `IMAGE_TOPIC` | `sensor_msgs/Image` | Camera frames to encode and stream |

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## 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 |

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## 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.