Hi Alex, There is a bug in mjpeg_server which we thought was fixed already. Please use question marks "?" instead of ampersands "&" to separate the topic, width, and height parameters. That should fix your resize problem. For streaming audio over ROS there is a package available: http://www.ros.org/wiki/compressed_audio_streaming Cheers, Ben On Thu, Jun 9, 2011 at 2:55 PM, Alexander Shavykin wrote: > Thank you for the answer Sarah. > It works but not so as i want. > > First of all i have problems with the setting params for mjpeg_server as it > has written in tutorial: > > http://localhost:8080/stream?topic=/gscam/image_raw&width=320&height=240 > > Now i see only 640*480 picture with very big delay in local network. > Also i tried to set params in gscam (using GSCAM_CONFIG) but it didn't help > (like *GSCAM_CONFIG*="v4l2src device=/dev/video0 ! videoscale ! > video/x-raw-yuv,width=320,height=240 ! ffmpegcolorspace ! > video/x-raw-rgb") > > > And also i have some other questions > Is gscam better for publish images then another image_transport modules? > > Is combination gscam and mjpeg_server is the best decision for decrease the delays between robot and > offboard computer? > > Also if you could put up a tutorial for another way to show video from robot to web using rosjs > > it will be very good. > > And the last question: what is the best way to transmit audio from ROS to offboard computer? > > Thank you! > > > 2011/6/9 Osentoski Sarah (CR/RTC1.1-NA) > >> Hi Alexander, >> >> >> So, I'm a bit confused about getting the camera to publish topics to ros >> or getting those topics from ros into the website. So I'll endeavour to >> answer both. >> >> 1. How to get your camera to be publishing rostopics: >> >> The first thing to do is to make sure that you get your camera publishing >> images to ros. There are a lot of different drivers/code you can use but >> since you mentioned gstreammer I'll explain how to use gscam to get the >> images from your camera into ROS. >> >> The documentation for gscam can be found here: >> http://www.ros.org/wiki/gscam >> >> And you can download it using apt-get install >> ros-diamondback-brown-perception >> >> If your camera was attached to /dev/video2 then you coul ddo the vollowing >> commands >> >> roscd gscam >> cd bin >> export GSCAM_CONFIG="v4l2src device=/dev/video2 ! video/x-raw-rgb ! ffmpegcolorspace" >> rosrun gscam gscam >> >> Now gscam will be publishing the images on gscam/image_raw topic >> >> 2. How to get the rostopics that your camera publishes to be viewed on the >> website: >> >> You can stream the video to the website one of two ways. The first is >> how you mentioned where you use rosjs to subscribe to the topic. If you >> need help with what to do from here we can put up a tutorial. >> >> There is another node, mjpeg_server http://www.ros.org/wiki/mjpeg_server that >> will let you stream the videos and take advantage of built in optimizations >> in the browser >> >> To use this node you can install it via the following command: >> apt-get install ros-diamondback-remote-lab >> >> then just rosrun mjpeg_server mjpeg_server >> >> To see the image you can just type the address into your web browser: >> >> >> http://localhost:8080/stream?topic=/gscam/image_raw >> >> >> You should see the image in your browser at this point. The documentation >> on the mjpeg_server page will tell you parameters you can set to see the >> images at different quality/sizes. >> >> I hope this helps. Let us know if you have any questions. >> >> Sarah Osentoski >> >> ------------------------------ >> *From:* ros-users-bounces@code.ros.org [mailto: >> ros-users-bounces@code.ros.org] *On Behalf Of *Alexander Shavykin >> *Sent:* Wednesday, June 08, 2011 1:43 PM >> *To:* ros-users@code.ros.org >> *Subject:* [ros-users] show video from robot in the web interface (based >> on rosjs tutoirial) >> >> Hello. >> >> I have an Irobot Create and netbook with web camera on it. >> The system on netbook is Ubuntu 10.04 >> I try to make control the robot with ROS via web interface from offboard >> computer using wi-fi. >> So there is very good tutorial with rosjs. >> >> All examples work. >> But i am a little confused how to show video from web camera on the robot >> in my web interface. >> >> So as i understand there are some methods for this task >> >> To use service /imagetopic >> connection.callService('/rosjs/subscribe',json(['/imagetopic',0,'jpeg',128,96,100]),function(rsp) >> {}); >> or >> to use gstreamer >> and also others. >> I don't understand how to realize these methods. >> Could you give some examples how to show the video from the robot in the >> web interface on off board computer? >> >> >> Thank you. >> >> >> _______________________________________________ >> ros-users mailing list >> >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >