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https://github.com/3drx/webrtc-ros-bridge
Sender and receiver that bridge between 2 ROS networks using WebRTC
https://github.com/3drx/webrtc-ros-bridge
pion ros webrtc
Last synced: 12 days ago
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Sender and receiver that bridge between 2 ROS networks using WebRTC
- Host: GitHub
- URL: https://github.com/3drx/webrtc-ros-bridge
- Owner: 3DRX
- Created: 2024-11-10T08:58:52.000Z (3 months ago)
- Default Branch: main
- Last Pushed: 2025-01-22T13:04:47.000Z (15 days ago)
- Last Synced: 2025-01-22T14:19:52.485Z (15 days ago)
- Topics: pion, ros, webrtc
- Language: Go
- Homepage:
- Size: 111 KB
- Stars: 2
- Watchers: 1
- Forks: 0
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# webrtc-ros-bridge
## Prerequisites
- ROS2 humble, merge installed
(tested on debian 12 with ROS2 humble build from source
with command `colcon build --merge-install`)
- libvpx-dev (deb package)
- `go mod tidy` to get all go deps
- Note that it's expected to see errors of not finding package `github.com/3DRX/webrtc-ros-bridge/rclgo_gen`,
since it's part of the codegen using `github.com/tiiuae/rclgo`, you can just ignore it.
## Build
Source your ros2 workspace setup.sh, and then
```
make
```
## Dev
For editor use, it's better to `source ./cgo-flags.env`
before opening editor for language server to work.
## Run
`wrb` cli can be configured to be either the sender or the receiver,
the config is load from a json file specified by `wrb `.
> [!IMPORTANT]
> Don't forget to remove comments in json.
### Sender
Firstly, if you're going to accept a image topic, you'd better to specify the img specification just like the following, otherwise we will use default img specification.
Secondly, you can configure the input topic name, the qos profile if necessary, otherwise we will use default qos profile like the following.
```json
{
"mode": "sender",
"addr": "localhost:8080",
"topics": [
{
"name_in": "image_raw", // input image topic name
"name_out": "image_out", // doesn't really matter
"type": "sensor_msgs/msg/Image",
"image_spec": {
"width": 640,
"height": 480,
"frame_rate": 30
},
"qos": {
"depth": 10,
"history": 1, // KeepLast
"reliability": 2 // BestEffort
}
}
]
}
```
### Receiver
Like the sender.
```json
{
"mode": "receiver",
"addr": "localhost:8080",
"topics": [
{
"name_in": "image_raw", // doesn't really matter
"name_out": "image", // output image topic name
"type": "sensor_msgs/msg/Image",
"image_spec": {
"width": 640,
"height": 480,
"frame_rate": 30
},
"qos": {
"depth": 10,
"history": 1, // KeepLast
"reliability": 2 // BestEffort
}
}
]
}
```
### Ros QosProfile
You can look up the official code for QosProfile. `https://github.com/tiiuae/rclgo/blob/main/pkg/rclgo/qos.go`
## Acknowledgment
- [pion](https://github.com/pion). It's awesome.
- [webrtc_ros](https://github.com/RobotWebTools/webrtc_ros).
Infact, the receiver of this project is compatable with webrtc_ros server node.
- [ros2](https://github.com/ros2)
- [tiiuae/rclgo](https://github.com/tiiuae/rclgo). The ROS client library for golang.