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