JanusROS-Videoroom

1. Summary

• ROS image publisher : Publishing ROS Image
• ROS_stream converter : Subscribing ROS Image & Converting ROS Image into numpy data & Sending data
• Janus server with docker
• Observation system : browser

2. documentation

a) ROS image publisher

Publish image with ROS

In package

$ catkin_make
$ source ./devel/setup.bash
$ rosrun ros_opencv_pub ros_opencv_pub

b) ROS_stream converter

• Peer connection with Janus server
• Convert ROS image into numpy data
• After subscribing ROS image, convert it to numpy data
• Send data to a peer

In package

$ conda activate aio2 
  (I used my own virtual env of python3)
  
$ catkin_make
$ source ./devel/setup.bash
$ rosrun test janus.py

c) Janus server with docker

prepare to receive signalling from peers

$ sudo docker pull canyan/janus-gateway:latest

$ docker run -itd -p 8088:8088 -p 8000:8000 --name janus janus /bin/bash -c "/root/janus-gateway/run_janus.sh;/bin/sh"        

Browser address : http://127.0.0.1:8000/videoroomtest.html

More information : janus-gateway

d) Observation system

You can check the ROS-Janus stream through browser.

More information

3. More feature

videoroom_create.py

It helps to create new video room. You can join the room with specific url. 

ex) http://127.0.0.1:8000/videoroomtest.html?room=9999

roomlist.py

It shows the room list.

4. Reference

• https://janus.conf.meetecho.com/docs/videoroom.html
• https://janus.conf.meetecho.com/docs/JS.html
• https://github.com/aiortc/aiortc/tree/28cf22c2a82136784cc8ece6ca82143afdba5c86/examples/videostream-cli

Janus API documentation helps how to use and write Janus API with json.