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.