compressed-video-transport

Transport compressed video using ROS image_transport to reduce latency.

Do the following three steps on both publisher and receiver

Install dependencies

OpenCV

ROS

Create ROS workspace and download this package

mkdir -p ~/video_transport/src
cd video_transport/src
catkin_init_workspace 
cd ..
catkin_make
cd src
git clone https://github.com/AreteQin/compressed-video-transport.git

Make

cd ..
catkin_make

Do the following steps on the publisher

Check the IP address of publisher

hostname -I

Config ROS IP for communication on two machines, if you are using one device, ignore this step

export ROS_IP=192.168.2.39 # change the IP according to hostname -I
export ROS_MASTER_URI=http://192.168.2.39:11311 # to make publisher as ROS master

Start ROS master

roscore

open a new terminal and run the publisher

source ./devel/setup.bash
export ROS_IP=192.168.2.39 # change the IP according to hostname -I
export ROS_MASTER_URI=http://192.168.2.39:11311 # to make publisher as ROS master
rosrun compressed-video-transport publisher

Do the following steps on the receiver machine

Check the IP address of receiver

hostname -I

Config ROS IP for communication on two machines, if you are using one device, ignore this step

export ROS_IP=192.168.2.40 # change the IP according to hostname -I
export ROS_MASTER_URI=http://192.168.2.39:11311 # to make publisher as ROS master
source ./devel/setup.bash

Run the receiver to subscribe raw image

rosrun compressed-video-transport receiver _image_transport:=raw

Run the receiver to subscribe compressed image

rosrun compressed-video-transport receiver _image_transport:=compressed