Image2RTSP

RTSP Server for ROS(ROS Image to RTSP stream)

---

Overview

This 'image2rtsp package' is basically ROS based project.

This 'image2rtsp package' is subscribed some of image topic(sensor_msgs/Image) from image publish node. After received image data, the node encodes the image to h264 and push buffer. Concurrently, Live555 event is emit when image push the buffer. Finally, RosImageSource can pop image data from buffer and stream image to session.

Development Enviroments

• Ubuntu 18.04 LTS
• ROS Melodic
• Live555
• x264
• swscale
• avformat
• avcodec
• avutil

Install dependency library

Install library related image encoding(encode to H264)

sudo apt-get install libx264-dev libswscale-dev libavformat-dev libavcodec-dev libavutil-dev

After install library, you must modify "image2rtsp/CMakeLists.txt" to your development. For example try check your path of installed library or path of include file.

Supported color channel

• ROS Image
  -- Only Supported RGB8, BGR8, RGBA8

How to Use?

Befor compile it, add your ROS image callback as many as session num at 'image2rtsp/src/node.cpp ' line 61, 82

...

    // regist ros subscribe callback
    // regist your callback as many as your sessions
    {
        m_sub.push_back(m_nh->subscribe(m_subTopic[0], 10,
                        &Image2RTSP_sample::Session_0_callback, this));
        m_sub.push_back(m_nh->subscribe(m_subTopic[1], 10,
                        &Image2RTSP_sample::Session_1_callback, this));
    }

...

private:
    // write your callback as many as your sessions
    void Session_0_callback(const sensor_msgs::Image::ConstPtr &msg){
        /**
        * void StreamImage(const uint8_t* src, const int index)
        * 
        * @params src ROS image data.
        * @params index Session index numbers.
        **/
        m_rtsp->StreamImage(&(msg->data[0]), 0);
    }

    void Session_1_callback(const sensor_msgs::Image::ConstPtr &msg){
        m_rtsp->StreamImage(&(msg->data[0]), 1);
    }

    void ServerRun(){
        m_rtsp->DoEvent();
    }

...

After modify code on fit your enviroment, try fixing roslaunch file.

If there is an error related to linker(ld), you compile relate live555 and copy to 'image2rtsp/lib/your_arch'. When you compile the live555, refer this script.

# Download Live555 source code and conpile
wget http://www.live555.com/liveMedia/public/live555-latest.tar.gz
tar xvf live555-latest.tar.gz
cd live
./genMakefiles linux
makes

# Copy compiled ibrary
scp live/UsageEnvironment/libUsageEnvironment.a /path/to/image2rtsp/lib/your_arch
scp live/BasicUsageEnvironment/libBasicUsageEnvironment.a /path/to/image2rtsp/lib/your_arch
scp live/groupsock/libgroupsock.a /path/to/image2rtsp/lib/your_arch
scp live/liveMedia/libliveMedia.a.a /path/to/image2rtsp/lib/your_arch

History

• Add arm64 compiled live555 library
• Add proxy server for external access
• Fix some of bug
• Modify class struct
• Set multi session
• Initial version implement