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 <path_to.json>.

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.

{
    "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.

{
    "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. It's awesome.
• webrtc_ros. Infact, the receiver of this project is compatable with webrtc_ros server node.
• ros2
• tiiuae/rclgo. The ROS client library for golang.