rtmp_to_ros

ROS package that can be used to stream a ROS image topic to RTMP server.

Installation

Tested with ROS Melodic on Ubuntu 18

Install dependencies

 sudo apt install ffmpeg -y
 pip install ffmpeg-python==0.1.17
 sudo apt install ros-melodic-cvbridge -y

RTMP Server

You can use the Nginx server that is pre-built in a Docker image as described here

Run

roslaunch ros_to_rtmp rtmp_node.launch rtmp_url:=<rtmp_server_url> img_topic:=<image/topic>

Make sure that the rtmp_url and img_topic arguments is set properly.

To control the stream, check the default parameters in the launch file rtmp_node.launch to control the stream

Visualize the stream

To visualize the stream from the RTMP server, you can use player that can receive rtmp streams such as VLC or mpv.

mpv is recommended, and you can use the following command as an example (tested with low latency)

mpv   --msg-color=yes   --msg-module=yes   --keepaspect=yes   --no-correct-pts   --untimed   --vd-lavc-threads=1   --cache=no   --cache-pause=no   --demuxer-lavf-o-add="fflags=+nobuffer+fastseek+flush_packets"   --demuxer-lavf-probe-info=nostreams   --demuxer-lavf-analyzeduration=0.1   --demuxer-max-bytes=500MiB   --demuxer-readahead-secs=0.1     --interpolation=no   --hr-seek-framedrop=no   --video-sync=display-resample   --temporal-dither=yes   --framedrop=decoder+vo     --deband=no   --dither=no     --hwdec=auto-copy   --hwdec-codecs=all     --video-latency-hacks=yes   --profile=low-latency   --linear-downscaling=no   --correct-downscaling=yes   --sigmoid-upscaling=yes   --scale=ewa_hanning   --scale-radius=3.2383154841662362   --cscale=ewa_lanczossoft   --dscale=mitchell     --fs   --osc=no   --osd-duration=450   --border=no   --no-pause   --no-resume-playback   --keep-open=no   --network-timeout=0 --stream-lavf-o=reconnect_streamed=1   rtmp://127.0.0.1/live/webcam

The rtmp://127.0.0.1/live/webcam should match the stream url in the launch file rtmp_url

TODO

• Add ROS services to configure the stream. For example, change of resolution, fps, image size, ...