v1.0.0-rc3

What's Changed

• Move setup script to scripts/ by @alan-george-lk in #87
• Miscellaneous documentation cleanups by @alan-george-lk in #89
• default config: forwards *. bidirectional by @stephen-derosa in #90
• Schema adjustments by @alan-george-lk in #86

Full Changelog: v0.1.0...v1.0.0-rc5

Sample video_sources

ros_portal:
  version: "0.0.1"
  topic_polling_period_ms: 500
  video_sources:
    # Synthetic GStreamer test pattern (bouncing ball + timestamp overlay),
    # software-encoded to VP8 — exercises the full GStreamer pipeline path
    # without any camera hardware.
    - track_name: "demo_gst_camera"
      source:
        type: "gstreamer"
        pipeline: >-
          videotestsrc is-live=true do-timestamp=true pattern=ball motion=wavy animation-mode=frames !
          video/x-raw,width=1280,height=720,framerate=30/1 !
          timeoverlay halignment=right valignment=bottom shaded-background=true !
          videoconvert ! video/x-raw,format=I420 !
          vp8enc name=lk_encoder deadline=1 cpu-used=8 keyframe-max-dist=30
          lag-in-frames=0 target-bitrate=2500000 !
          video/x-vp8 !
          appsink name=lk_appsink sync=false max-buffers=2 drop=true
        codec: "vp8"
        resolution:
          width: 1280
          height: 720
        rate_control:
          element: "lk_encoder"
          property: "target-bitrate"
          unit: "bps"
      publish_options:
        max_bitrate_bps: 2500000
        max_framerate: 30

    # Side-by-side stereo USB camera (2x 1280x720), captured through the
    # client-sdk-cpp device backend (V4L2) and encoded by WebRTC. The device
    # is /dev/video0 (usb-3D_USB_Camera...-video-index0); V4L2 device ids are
    # node numbers, so re-run 'ros2 run ros_portal capture_devices' if USB
    # enumeration changes.
    - track_name: "stereo_camera"
      source:
        type: "device"
        device:
          index: 0
          format:
            strategy: "exact"
            resolution:
              width: 2560
              height: 720
            framerate_fps: 30
            frame_format: "mjpeg"
      publish_options:
        max_bitrate_bps: 4000000
        max_framerate: 30

Quick Start

Download the .deb asset below that matches your ROS 2 distribution and CPU architecture, then follow the guides below.

Or run the multi-architecture Docker image for your distribution:

docker run --rm --network host livekit/ros-portal:<distro>

See next:

• Installation
• Running ROS Portal
• Configuration
• Docker