ffmpeg-streamer-docker

FFMPEG image encoder/decoder for ROS 2 with best effor QoS optimized for video streaming.

Qucick start

Running encoder

CPU

compose.yaml:

services:
  ffmpeg_compressor:
    image: husarion/ffmpeg-streamer:humble-1.0.0-20240329
    environment:
      - TYPE=ENCODER
      - RAW_TOPIC=/image_raw
      - FFMPEG_TOPIC=/image_raw/ffmpeg_best_effort

  ffmpeg_decompressor:
    image: husarion/ffmpeg-streamer:humble-1.0.0-20240329
    environment:
      - TYPE=DECODER
      - RAW_TOPIC=/image_raw/ffmpeg_decompressed
      - FFMPEG_TOPIC=/image_raw/ffmpeg_best_effort

NVIDIA GPU

Create params.yaml file for FFMPEG.

To find available encoders:

ffmpeg -encoders

To list available presets:

ffmpeg -h encoder=hevc_nvenc # hevc_nvenc is nvidia hardware encoder

params.yaml file may look like that

---
/image_republisher:
  ros__parameters:
    ffmpeg_image_transport:
      encoding: hevc_nvenc
      preset: llhp
      tune: ll

compose.yaml:

services:
  ffmpeg_compressor:
    image: husarion/ffmpeg-streamer:humble-1.0.0-20240329
    runtime: nvidia
    volumes:
     - ./params.yaml:/params.yaml
    environment:
      - TYPE=ENCODER
      - RAW_TOPIC=/image_raw
      - FFMPEG_TOPIC=/image_raw/ffmpeg_best_effort
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all

  ffmpeg_decompressor:
    image: husarion/ffmpeg-streamer:humble-1.0.0-20240329
    runtime: nvidia
    volumes:
     - ./params.yaml:/params.yaml
    environment:
      - TYPE=DECODER
      - RAW_TOPIC=/image_raw/ffmpeg_decompressed
      - FFMPEG_TOPIC=/image_raw/ffmpeg_best_effort
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all