updated camera commands with ffmpeg command

purduerov · Feb 6, 2025 · 3f01622 · 3f01622
1 parent 19dd5c1
commit 3f01622
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Showing 2 changed files with 16 additions and 25 deletions.
diff --git a/videos/src/get_ip.py b/videos/src/get_ip.py
@@ -57,8 +57,11 @@ def launch_camera(self, ip):
         for device in explorehd_devices:
             self.get_logger().info(f"Launching node with device: {device}")
             # Add your node launch logic here
-            # thread = threading.Thread(target=subprocess.run, args=(["ros2", "run", "videos", "videos_launch.py", "--ros-args", device]))
-            # thread.start()
+            # Construct the command with f-strings
+            cmd = ["ros2", "run", "videos", "videos_launch.py", "--ros-args", "-p", f"ip:={ip}", "-p", f"device:={device}"]
+            # Run in a thread
+            thread = threading.Thread(target=subprocess.run, args=(cmd,), kwargs={"check": True})
+            thread.start()
 
 
     def publish_stop(self):

diff --git a/videos/src/videos_launch.py b/videos/src/videos_launch.py
@@ -8,38 +8,26 @@
 class Camera(Node):
     def __init__(self):
         super().__init__("cameras")
-        self.declare_parameter("dev_name", "device=/dev/video2")
+        self.declare_parameter("ip", "192.168.1.23")
+        self.declare_parameter("device", "device=/dev/video2")
 
-        dev_name = self.get_parameter("dev_name").get_parameter_value().string_value
+        ip_address = self.get_parameter("ip").get_parameter_value().string_value
+        dev_name = self.get_parameter("device").get_parameter_value().string_value
+
+        # Define RTSP stream URL 
+        rtsp_url = "rtsp://{ip_address}:8554/{dev_name}"
 
         while True:
             subprocess.run(
                 [
-                    "gst-launch-1.0",
-                    "-v",
-                    "v4l2src",
-                    dev_name,
-                    "!",
-                    "video/x-h264,width=1920,height=1080",
-                    "!",
-                    "h264parse",
-                    "!",
-                    "queue",
-                    "!",
-                    "rtph264pay",
-                    "config-interval=10",
-                    "pt=96",
-                    "!",
-                    "udpsink",
-                    "host=224.1.1.1",
-                    "auto-multicast=true",
-                    "port=" + port,
-                    "sync=false",
-                    "buffer-size=1048576",
+                    "ffmpeg", "-f", "v4l2", "--fflags", "nobuffer", 
+                    "-i", dev_name, "-vcodec", "copy", "-g", "10",
+                    "-f", "rtsp", rtsp_url
                 ]
             )
 
 
+
 def main(args=None):
     rclpy.init(args=args)
     camera_node = Camera()