Install chromium via snap with ansible, install fdcanusb binary, inst…

…all vainfo, comments

ansible/roles/build/tasks/main.yml

@@ -96,6 +96,7 @@
       - libopencv-dev
       - libgstreamer1.0-dev
       - libgstreamer-plugins-base1.0-dev
+      - vainfo
 
 - name: Install Local APT Packages
   become: True
@@ -205,3 +206,8 @@
       - "{{ catkin_workspace }}/src/mrover[dev]"
     virtualenv: "{{ catkin_workspace }}/src/mrover/venv"
     virtualenv_command: /usr/bin/python3.10 -m venv
+
+- name: Install Chromium
+  become: True
+  snap:
+    name: chromium

ansible/roles/esw/tasks/main.yml

@@ -13,6 +13,13 @@
   become: true
   command: udevadm trigger --subsystem-match=tty
 
+- name: Install fdcanusb Binary
+  become: true
+  copy:
+    src: files/bin/fdcanusb_daemon
+    dest: /usr/local/bin/
+    mode: 0755
+
 - name: Install Moteus GUI
   pip:
     name: moteus_gui

src/teleoperation/gui_chromium.sh

@@ -1,3 +1,7 @@
 #!/bin/bash
 
+# Our stream is encoded with the HVEC (H.265) codec
+# Chromium currently only supports this when using VA-API hardware acceleration
+# It uses the WebCodecs API to decode
+# You can easily test if your setup works with this URL: https://w3c.github.io/webcodecs/samples/video-decode-display/
 chromium --enable-features=VaapiVideoDecodeLinuxGL --app=http://localhost:8080