# Crawler Video Streaming Notes

### 1) Starting RTSP Server (Ground Station PC)

#### create remote.bash file in ~/.

#filename=remote.bash (GroundStation)
export ROS_MASTER_URI=http://10.223.240.0:11311
export ROS_IP=10.223.240.0

#### Run RTSP server

source ~/remote.bash
sudo docker run --rm -it --network=host aler9/rtsp-simple-server

#### Sample Output

2022/06/28 08:00:14 INF rtsp-simple-server v0.19.1
2022/06/28 08:00:14 INF [RTSP] listener opened on :8554 (TCP), :8000 (UDP/RTP), :8001 (UDP/RTCP)
2022/06/28 08:00:14 INF [RTMP] listener opened on :1935
2022/06/28 08:00:14 INF [HLS] listener opened on :8888

### 2) Streaming Camera Feed (Onboard PC)

#### create remote.bash file in ~/.

#filename=remote.bash (OnboardComputer)
export ROS_MASTER_URI=http://10.223.240.0:11311
export ROS_IP=10.223.240.1

#### Package : OctoROS_Streaming_Utils

git clone [e-mail]:octobotics/OctoROS-Streaming-Utils.git

#### Compilation:

cd ~/OctoROS-Streaming-Utils/src/gstreamer_utils
gcc camera1.c -o camera1 `pkg-config --cflags --libs gstreamer1.0`
gcc camera2.c -o camera2 `pkg-config --cflags --libs gstreamer1.0`
gcc camera3.c -o camera3 `pkg-config --cflags --libs gstreamer1.0`
    
sudo chmod +x camera1 camera2 camera3

#### Streaming CSI Camera Feed Over Gstreamer (1096p)

source ~/remote.bash
~/OctoROS-Streaming-Utils/src/gstreamer_utils/camera1 10.223.240.0 & \
~/OctoROS-Streaming-Utils/src/gstreamer_utils/camera2 10.223.240.0 & \
~/OctoROS-Streaming-Utils/src/gstreamer_utils/camera3 10.223.240.0

#### Streaming CSI Camera Feed Over Gstreamer (480p)

source ~/remote.bash
~/OctoROS-Streaming-Utils/src/gstreamer_utils/camera1_compressed 10.223.240.0 & \
~/OctoROS-Streaming-Utils/src/gstreamer_utils/camera2_compressed 10.223.240.0 & \
~/OctoROS-Streaming-Utils/src/gstreamer_utils/camera3_compressed 10.223.240.0

### Accessing Raw Video Feed (Ground Station PC)

gst-launch-1.0 rtspsrc location=rtsp://10.223.240.0:8554/cam1 latency=0 ! decodebin ! videoconvert ! autovideosink & \
gst-launch-1.0 rtspsrc location=rtsp://10.223.240.0:8554/cam2 latency=0 ! decodebin ! videoconvert ! autovideosink & \
gst-launch-1.0 rtspsrc location=rtsp://10.223.240.0:8554/cam3 latency=0 ! decodebin ! videoconvert ! autovideosink & 

### Converting Video Feed To ROS Topics (Ground Station PC)

#### Update rtsp urls in launch file

sudo nano ~/OctoROS-Streaming-Utils/src/cuda_video_streaming/launch/rtsp2ros.launch 

...otics/OctoROS-Streaming-Utils/src/cuda_video_streaming/launch/rtsp2ros.launch

<launch>
    <arg name="rtsp_urls"
         default="rtsp://10.223.240.0:8554/cam1,rtsp://10.223.240.0:8554/cam2,r$
    <node pkg="cuda_video_streaming" type="cuda_video_streaming_node" name="Rts$
        <param name="rtsp_urls" value="$(arg rtsp_urls)"/>
    </node>
</launch>


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#### Launch the cuda video converter node

source ~/remote.bash
cd ~/OctoROS-Streaming-Utils
source devel/setup.bash
roslaunch cuda_video_streaming rtsp2ros.launch