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

{
    "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"
        }
    ]
}

Receiver

{
    "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"
        }
    ]
}

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.