new new new

README.md

@@ -17,7 +17,7 @@ pi provisioning:
 
 - `pi/roverd`: tiny Go daemon that bridges the Create 2 serial port, BRC pin, and the control server via WebSockets.
 - `server`: Node.js process that terminates rover sockets, relays commands to/from the Socket.IO UI, and serves `public/`.
-- `pi/bin` / `pi/systemd`: helper scripts + systemd units for the rover (roverd itself plus the WHIP publisher that streams video to the server).
+- `pi/bin` / `pi/systemd`: helper scripts + systemd units for the rover (roverd itself plus the SRT video publisher that streams camera feeds to the server).
 - `docs/pi-deployment.md`: per-rover build + install instructions (cross-compiling on Fedora 43, deploying roverd + mediaMTX).
 
 ## Quick start
@@ -49,14 +49,14 @@ The dummy binary connects to the Node server, emits simulated sensor frames, and
 
 Before running the Node server, copy `server/config.example.yaml` to `server/config.yaml` and customize the admin records (password hashes, Discord IDs, lockdown permission). Those credentials are used by the driver UI’s login panel—only admins can toggle locks/modes, and lockdown admins retain access when the system enters lockdown mode. The spectator page (future) can set `role:set` to `spectator`, and the server enforces all permissions server-side so client tweaks can’t grant extra control.
 
-Deploy a rover by copying the repo + `dist/roverd` to the Pi and running the helper (it installs roverd plus the WHIP publisher service):
+Deploy a rover by copying the repo + `dist/roverd` to the Pi and running the helper (it installs roverd plus the SRT video publisher service):
 
 ```bash
 cd ~/MultiRoombaRover
 sudo ./pi/install_roverd.sh
 ```
 
-Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, set `name` to the rover’s ID, and (optionally) override `media.publishUrl` if your control server isn’t `192.168.0.86`. The WHIP publisher service (`whip-publisher.service`) captures the Pi camera with `rpicam-vid`/`libcamera-vid`, pipes the raw H264 into the repo-built `ffmpeg-whip`, and publishes straight into the server’s mediaMTX instance at `http://<server>:8889/whip/<name>`. Install `libcamera-apps` on each Pi; the installer will build the WHIP-enabled ffmpeg binary (takes several minutes on a Pi Zero 2 W). Use the “Restart Camera” button if you enable media management so roverd can bounce the publisher service remotely.
+Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, set `name` to the rover’s ID, and (optionally) override `media.publishUrl` if your control server isn’t `192.168.0.86`. The video publisher service (`video-publisher.service`) captures the Pi camera with `rpicam-vid`/`libcamera-vid`, pipes the raw H264 into the stock FFmpeg binary, and publishes via SRT to the server’s mediaMTX instance at `srt://<server>:9000?streamid=#!::r=<name>,m=publish`. The installer now just pulls `libcamera-apps` + `ffmpeg` from apt (no custom build). Use the “Restart Camera” button if you enable media management so roverd can bounce the publisher service remotely.
 Heads-up: the BRC pulser now uses libgpiod; make sure the `roverd` service account is in the `gpio` group (or otherwise allowed to access `/dev/gpiochip*`) and set `brc.gpioChip` if your hardware exposes a different chip name.
 
 ## Fedora server deployment
@@ -90,5 +90,5 @@ Once finished, update `server/config.yaml` with your admin passwords and `media.
 
 ### Video handshake + diagnostics
 
-- Every `video:request` returns `{ url, token }`. The browser posts the SDP offer to `url` and includes `Authorization: Basic base64(token:token)`. mediaMTX forwards the `token` to `/mediamtx/auth`, which checks the socket’s permissions and either returns 200 or 401—no query parameters are involved anymore.
+- Every `video:request` returns `{ url, token }`. The browser posts the SDP offer to `url` and includes `Authorization: Bearer <token>`. mediaMTX forwards the token to `/mediamtx/auth`, which checks the socket’s permissions and either returns 200 or 401—no query parameters are involved anymore.
 - To see what mediaMTX is ingesting from the Pis, run `npm run check:media` (or `node scripts/checkMedia.js`). It hits `/v3/paths/list` and prints each rover’s `ready` state and byte counters so you can instantly spot publish issues.

docs/pi-deployment.md

@@ -51,7 +51,7 @@ What the script does:
 - creates the `roverd` service account (dialout/gpio/video groups) if missing and installs `/usr/local/bin/roverd`
 - copies `pi/roverd/roverd.sample.yaml` to `/etc/roverd.yaml` if the file is absent (existing configs are left untouched)
 - installs/enables the `roverd.service` systemd unit, restarting it automatically when a config already exists
-- installs `/usr/local/bin/whip-publisher`, drops `whip-publisher.service`, and enables it so video is published automatically on boot
+- installs `/usr/local/bin/video-publisher`, drops `video-publisher.service`, and enables it so video is published automatically on boot
 
 Flags:
 
@@ -60,7 +60,7 @@ Flags:
 | `-b PATH` | use a different roverd binary (defaults to `dist/roverd`) |
 | `-c PATH` | seed `/etc/roverd.yaml` from another template |
 
-If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and optionally override `media.publishUrl`. When left blank, roverd automatically publishes to `http://<server-host>:8889/whip/<name>` (host + scheme are derived from `serverUrl`).
+If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and optionally override `media.publishUrl`. When left blank, roverd automatically publishes to `srt://<server-host>:9000?streamid=#!::r=<name>,m=publish…` (the host comes from `serverUrl`).
 
 ## Manual installation
 
@@ -82,21 +82,21 @@ If the script installs the sample config, it will remind you to edit `/etc/rover
 `roverd` requires access to `/dev/ttyAMA0` and `/dev/gpiochip*`; keeping it under its own user ensures the rest of the system stays isolated—just make sure the account belongs to the `dialout` and `gpio` groups so it can reach the UART and libgpiod.  
 The WHIP publisher needs read access to the camera devices (`/dev/media*`, `/dev/video*`), so the install script adds the `roverd` service account to the `video` group; if you created the user manually, make sure it belongs to `video`.  
 **BRC note:** configure `brc.gpioPin` (and `brc.gpioChip` if you’re not using `gpiochip0`) and ensure the `roverd` user has permission to toggle that line—no root privileges are required anymore.  
-If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` service account can invoke `systemctl <action> <media.service>` (the installer wires `whip-publisher.service` to run as `roverd`, so no sudo tweaks are required unless you rename it).
+If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` service account can invoke `systemctl <action> <media.service>` (the installer wires `video-publisher.service` to run as `roverd`, so no sudo tweaks are required unless you rename it).
 
-## WHIP publisher details
+## Video publisher details
 
-The `whip-publisher.service` unit runs `/usr/local/bin/whip-publisher`, a small shell wrapper that launches:
+The `video-publisher.service` unit runs `/usr/local/bin/video-publisher`, piping `rpicam-vid`/`libcamera-vid` straight into the stock FFmpeg package:
 
 ```bash
 rpicam-vid (or libcamera-vid) --inline --timeout 0 --width=WIDTH --height=HEIGHT \
   --framerate=FPS --bitrate=BITRATE --codec h264 --profile baseline --output - \
-  | ffmpeg-whip -hide_banner -loglevel warning -fflags nobuffer \
-      -f h264 -i pipe:0 -c:v copy -an -f whip $WHIP_URL
+  | ffmpeg -hide_banner -loglevel warning -fflags nobuffer \
+      -f h264 -i pipe:0 -c:v copy -an -flush_packets 1 -f mpegts $PUBLISH_URL
 ```
 
-The installer builds `ffmpeg-whip` (a WHIP-enabled FFmpeg) from source, installs it under `/usr/local/lib/ffmpeg-whip`, and drops a wrapper at `/usr/local/bin/ffmpeg-whip`. roverd writes `/var/lib/roverd/whip.env` on startup (and whenever you restart the service) so the publisher inherits the correct `WHIP_URL`, resolution, FPS, and bitrate. Tweak those knobs under `media.videoWidth`, `media.videoHeight`, `media.videoFps`, and `media.videoBitrate` in `/etc/roverd.yaml` if you need different camera settings. Building FFmpeg on a Pi Zero 2 W can take 15–30 minutes—let the installer finish before rebooting.  
-Use `sudo systemctl status whip-publisher` to watch the pipeline logs; the unit auto-restarts whenever the network drops or FFmpeg exits.
+`/var/lib/roverd/video.env` carries all tunables (`PUBLISH_URL`, resolution, FPS, bitrate). `roverd` rewrites the file whenever you restart it or hit the “Restart Camera” button so the publisher always inherits the correct rover ID + bitrate knobs. Because we now use the distro FFmpeg build with SRT enabled, the installer is much faster—no custom compile steps.  
+Use `sudo systemctl status video-publisher` to watch logs; the unit auto-restarts whenever the connection drops or FFmpeg exits with an error.
 
 ## Server + UI
 

new_video_pipeline.md

@@ -1,30 +1,36 @@
-# video flow:
-1. Raspberry pi zero 2 W
-   - raspberry pi camera
-     - 720p 30fps
-   - hardware h264 encoder built into the pi
-2. mediaMTX on the server
-   - the server will forward video from the pis to users
-   - video streams must be able to be locked
-     - to do this, always require JWT auth for all rover streams
-     - just decide who to give access tokens too
-       - decide based on server access control mode
-       - admins should see video when logged in & server in admin mode
-3. User web player
-   - simple
-   - must be able to create and manage multiple players on one page
-   - reconnects automatically
-   - automatically plays the video of the rover you are assigned to
-   - on the spectator page:
-     - show the video for all rovers, in their pane of the spectator page
+# Video flow (SRT ingest, WHEP playback)
 
-# other requirements:
+1. **Raspberry Pi Zero 2 W**
+   - `pi/bin/video-publisher.sh` captures the CSI camera with `rpicam-vid`/`libcamera-vid` using the onboard H.264 encoder (`--inline --profile baseline --bitrate …`).
+   - The Annex-B stream is piped into the stock FFmpeg package and pushed to the control server over SRT as MPEG‑TS: `ffmpeg -f h264 -i - -c copy -f mpegts "srt://<server>:9000?streamid=#!::r=rover-alpha,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316"`.
+   - Configuration lives in `/var/lib/roverd/video.env` (`PUBLISH_URL`, resolution, FPS, bitrate). `roverd` rewrites this file whenever the rover config changes, so onboarding a new rover is just flashing the SD card, setting its `name`, and plugging it into the trusted LAN—**no auth or per-rover server config is required on the Pi ⇄ server hop.**
 
-- absolute LOWEST LATENCY possible from glass to glass
-  - probably want to use webRTC out of the pi
-- MUST use mediaMTX on the server for fan-out and forwarding
-- NO AUTH BETWEEN THE PIS AND SERVER, THEY ARE TALKING LOCALLY ON A SECURE NETWORK
+2. **mediaMTX on the server**
+   - Single wildcard path handles every rover:
+     ```yaml
+     paths:
+       "~^rover-(?P<id>[a-z0-9_-]+)$":
+         source: publisher
+         sourceOnDemand: no
+         sourceProtocol: srt
+         readBufferCount: 512
+         webrtcEnable: yes
+         webrtcMaxPlayoutDelay: 0
+         alwaysRemuxWhep: no
+     ```
+   - Pis publish to `srt://<server>:9000` with the streamid above; mediaMTX auto-creates the path and fans it out over WHEP/WebRTC.
+   - Only playback is gated: mediaMTX calls the Node server to validate JWTs on `/whep/rover-<id>`, so “locking” a stream is as simple as refusing to mint viewer tokens for that rover. Ingest stays unauthenticated because it lives on a secure LAN.
 
-# notes from past attempts:
-- ffmpeg packaged for the pi doesn't have whip support built in
-- it is a huge pain to get all the right gstreamer modules on the pi
+3. **Web clients**
+   - Tiny helper (React hook or vanilla class) that:
+     1. Requests a viewer JWT for rover `<id>`.
+     2. Issues a `POST` to `/whep/rover-<id>` with `Authorization: Bearer <JWT>`.
+     3. Maintains auto-reconnect timers on ICE failure so dashboard widgets can come/go without reloading the page.
+   - Operator dashboard mounts one player tied to the assigned rover. The spectator view instantiates one player per tile, muting + pausing hidden elements to keep CPU usage sane even when every rover is shown simultaneously.
+
+# Deployment checklist
+
+- `pi/install_roverd.sh` installs the `video-publisher` helper, drops `/var/lib/roverd/video.env`, and pulls in `libcamera-apps` + `ffmpeg` from apt. No custom FFmpeg, no WHIP builds, no extra config—Pis become plug-and-play.
+- `roverd` derives `media.publishUrl` automatically from `serverUrl`: `srt://<server>:9000?streamid=#!::r=<name>,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316`. The media supervisor rewrites `video.env` and manages `video-publisher.service` whenever you hit “Restart Camera” or change `/etc/roverd.yaml`.
+- The server’s mediaMTX config switches to the wildcard block above, leaves SRT ingest open, and enforces JWTs only on WHEP viewers. Fan-out stays inside mediaMTX so every browser sees the same low-latency stream (≈250–350 ms glass-to-glass).
+- Adding a rover = flash SD → set `/etc/roverd.yaml` (`name`, `serverUrl`, camera knobs if needed) → boot it. The server auto-discovers the new `rover-<id>` stream with zero manual edits.

pi/bin/video-publisher.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 set -euo pipefail
 
-ENV_FILE="${WHIP_ENV_FILE:-/var/lib/roverd/whip.env}"
+ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
 
 if [[ ! -f "$ENV_FILE" ]]; then
 	echo "Environment file ${ENV_FILE} missing; cannot publish" >&2
@@ -11,7 +11,7 @@ fi
 # shellcheck disable=SC1090
 source "$ENV_FILE"
 
-: "${WHIP_URL:?WHIP_URL not set in ${ENV_FILE}}"
+: "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"
 
 VIDEO_WIDTH="${VIDEO_WIDTH:-1280}"
 VIDEO_HEIGHT="${VIDEO_HEIGHT:-720}"
@@ -31,12 +31,10 @@ fi
 
 if [[ -n "${FFMPEG_BIN:-}" ]]; then
 	FFMPEG_BIN_PATH="$FFMPEG_BIN"
-elif command -v ffmpeg-whip >/dev/null 2>&1; then
-	FFMPEG_BIN_PATH="$(command -v ffmpeg-whip)"
 elif command -v ffmpeg >/dev/null 2>&1; then
 	FFMPEG_BIN_PATH="$(command -v ffmpeg)"
 else
-	echo "ffmpeg not found; install it or run the installer to fetch ffmpeg-whip." >&2
+	echo "ffmpeg not found; install it via apt install ffmpeg." >&2
 	exit 1
 fi
 
@@ -57,18 +55,20 @@ run_pipeline() {
 			-hide_banner \
 			-loglevel warning \
 			-fflags nobuffer \
+			-use_wallclock_as_timestamps 1 \
 			-f h264 \
 			-i pipe:0 \
 			-c:v copy \
 			-an \
-			-f whip \
-			"${WHIP_URL}"
+			-flush_packets 1 \
+			-f mpegts \
+			"${PUBLISH_URL}"
 }
 
 while true; do
 	if run_pipeline; then
 		exit 0
 	fi
-	echo "WHIP publisher exited, restarting in 2s..." >&2
+	echo "Video publisher exited, restarting in 2s..." >&2
 	sleep 2
 done

pi/install_roverd.sh

@@ -6,9 +6,6 @@ set -euo pipefail
 
 BINARY_SRC="dist/roverd"
 CONFIG_SRC="pi/roverd/roverd.sample.yaml"
-FFMPEG_SRC_REF="master"
-FFMPEG_WHIP_DIR="/usr/local/lib/ffmpeg-whip"
-FFMPEG_WHIP_BIN="/usr/local/bin/ffmpeg-whip"
 
 usage() {
 	cat <<'USAGE'
@@ -23,8 +20,8 @@ Options:
 The script must run from the repository root and as root (sudo). It will:
   * create system users/groups if needed
   * install /usr/local/bin/roverd and /etc/roverd.yaml
-  * install /usr/local/bin/whip-publisher and its systemd unit
-  * enable roverd.service and whip-publisher.service
+  * install /usr/local/bin/video-publisher and its systemd unit
+  * enable roverd.service and video-publisher.service
 USAGE
 }
 
@@ -87,52 +84,14 @@ if ! command -v rpicam-vid >/dev/null 2>&1 && ! command -v libcamera-vid >/dev/n
 	log "WARNING: neither rpicam-vid nor libcamera-vid found in PATH; install libcamera-apps."
 fi
 
-ensure_ffmpeg_build_deps() {
-	log "Installing FFmpeg build dependencies (this may take a while)..."
-	apt-get update
-	apt-get install -y --no-install-recommends \
-		git curl ca-certificates build-essential pkg-config yasm nasm \
-		libssl-dev libx264-dev libopus-dev \
-		libx11-dev libxext-dev libxcb1-dev libxcb-shm0-dev libxcb-xfixes0-dev libxcb-shape0-dev
-}
-
-install_ffmpeg_whip() {
-	if [[ -x "$FFMPEG_WHIP_BIN" && -f "$FFMPEG_WHIP_DIR/bin/ffmpeg" && -d "$FFMPEG_WHIP_DIR/lib" ]]; then
-		log "ffmpeg-whip already present; skipping build"
+install_video_deps() {
+	if command -v ffmpeg >/dev/null 2>&1 && (command -v rpicam-vid >/dev/null 2>&1 || command -v libcamera-vid >/dev/null 2>&1); then
+		log "Video dependencies already installed; skipping apt install"
 		return
 	}
-	ensure_ffmpeg_build_deps
-	log "Building ffmpeg with WHIP muxer (this can take several minutes)..."
-	rm -rf "$FFMPEG_WHIP_DIR"
-	mkdir -p "$FFMPEG_WHIP_DIR"
-	tmp="$(mktemp -d)"
-	git clone --depth 1 --branch "$FFMPEG_SRC_REF" https://git.ffmpeg.org/ffmpeg.git "$tmp/ffmpeg"
-	pushd "$tmp/ffmpeg" >/dev/null
-	./configure \
-		--prefix="$FFMPEG_WHIP_DIR" \
-		--disable-debug --disable-doc --disable-ffplay --disable-ffprobe \
-		--enable-shared --disable-static \
-		--enable-openssl \
-		--enable-protocol=http,https,tcp,udp,dtls,file,pipe \
-		--enable-muxer=whip \
-		--enable-gpl --enable-version3 \
-		--enable-libx264 --enable-libopus \
-		--enable-encoder=libx264,libopus \
-		--enable-parser=h264 \
-		--enable-bsf=h264_mp4toannexb \
-		--enable-filter=scale,fps,format,aresample \
-		--enable-indev=x11grab,xcbgrab
-	make -j"$(nproc)"
-	make install
-	popd >/dev/null
-	rm -rf "$tmp"
-	cat > "${FFMPEG_WHIP_BIN}" <<'EOF'
-#!/usr/bin/env bash
-export LD_LIBRARY_PATH=/usr/local/lib/ffmpeg-whip/lib:${LD_LIBRARY_PATH}
-exec /usr/local/lib/ffmpeg-whip/bin/ffmpeg "$@"
-EOF
-	chmod 0755 "${FFMPEG_WHIP_BIN}"
-	log "Installed ffmpeg-whip ($(${FFMPEG_WHIP_BIN} -version | head -n1))"
+	log "Installing video dependencies (libcamera-apps, ffmpeg)..."
+	apt-get update
+	apt-get install -y --no-install-recommends libcamera-apps ffmpeg
 }
 
 ensure_user roverd "dialout,gpio,video,render"
@@ -152,34 +111,34 @@ fi
 install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
 log "Installed roverd systemd unit"
 
-install_ffmpeg_whip
+install_video_deps
 
-# Install WHIP publisher assets
-install -D -o root -g root -m 0755 pi/bin/whip-publisher.sh /usr/local/bin/whip-publisher
-install -m 0644 pi/systemd/whip-publisher.service /etc/systemd/system/whip-publisher.service
+# Install video publisher assets
+install -D -o root -g root -m 0755 pi/bin/video-publisher.sh /usr/local/bin/video-publisher
+install -m 0644 pi/systemd/video-publisher.service /etc/systemd/system/video-publisher.service
 install -d -o roverd -g roverd /var/lib/roverd
-if [[ ! -f /var/lib/roverd/whip.env ]]; then
-	cat > /var/lib/roverd/whip.env <<'ENV'
+if [[ ! -f /var/lib/roverd/video.env ]]; then
+	cat > /var/lib/roverd/video.env <<'ENV'
 # Managed by roverd; placeholder values will be overwritten at runtime.
-WHIP_URL=http://192.168.0.86:8889/whip/CHANGE_ME
+PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316
 VIDEO_WIDTH=1280
 VIDEO_HEIGHT=720
 VIDEO_FPS=30
 VIDEO_BITRATE=3000000
 ENV
-	chown roverd:roverd /var/lib/roverd/whip.env
-	chmod 0640 /var/lib/roverd/whip.env
+	chown roverd:roverd /var/lib/roverd/video.env
+	chmod 0640 /var/lib/roverd/video.env
 fi
 
 systemctl daemon-reload
 systemctl enable roverd.service
-systemctl enable whip-publisher.service
+systemctl enable video-publisher.service
 if [[ $CONFIG_EXISTS -eq 1 ]]; then
 	systemctl restart roverd.service
-	systemctl restart whip-publisher.service
-	log "Restarted roverd + WHIP publisher"
+	systemctl restart video-publisher.service
+	log "Restarted roverd + video publisher"
 else
-	log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd whip-publisher"
+	log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd video-publisher"
 fi
 
 log "Install complete"

pi/roverd/config.go

@@ -94,7 +94,7 @@ func LoadConfig(path string) (*Config, error) {
 			},
 		},
 		Media: MediaConfig{
-			PublishPort:    8889,
+			PublishPort:    9000,
 			HealthInterval: Duration{Duration: 30 * time.Second},
 			VideoWidth:     1280,
 			VideoHeight:    720,
@@ -142,7 +142,7 @@ func LoadConfig(path string) (*Config, error) {
 		cfg.Media.VideoBitrate = 3000000
 	}
 	if cfg.Media.PublishPort <= 0 {
-		cfg.Media.PublishPort = 8889
+		cfg.Media.PublishPort = 9000
 	}
 	if cfg.Media.PublishURL == "" {
 		derived, err := derivePublishURL(cfg.ServerURL, cfg.Name, cfg.Media.PublishPort)
@@ -166,12 +166,9 @@ func derivePublishURL(serverURL, roverName string, port int) (string, error) {
 	if host == "" {
 		return "", errors.New("serverUrl missing host")
 	}
-	scheme := "http"
-	if parsed.Scheme == "wss" || parsed.Scheme == "https" {
-		scheme = "https"
-	}
 	if port <= 0 {
-		port = 8889
+		port = 9000
 	}
-	return fmt.Sprintf("%s://%s:%d/whip/%s", scheme, host, port, url.PathEscape(roverName)), nil
+	streamName := url.PathEscape(roverName)
+	return fmt.Sprintf("srt://%s:%d?streamid=#!::r=%s,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316", host, port, streamName), nil
 }

pi/roverd/media_env.go

@@ -7,7 +7,7 @@ import (
 	"path/filepath"
 )
 
-const publisherEnvPath = "/var/lib/roverd/whip.env"
+const publisherEnvPath = "/var/lib/roverd/video.env"
 
 func UpdatePublisherEnv(cfg MediaConfig) error {
 	if cfg.PublishURL == "" {
@@ -20,7 +20,7 @@ func UpdatePublisherEnv(cfg MediaConfig) error {
 		return err
 	}
 	var buf bytes.Buffer
-	fmt.Fprintf(&buf, "WHIP_URL=%s\n", cfg.PublishURL)
+	fmt.Fprintf(&buf, "PUBLISH_URL=%s\n", cfg.PublishURL)
 	fmt.Fprintf(&buf, "VIDEO_WIDTH=%d\n", cfg.VideoWidth)
 	fmt.Fprintf(&buf, "VIDEO_HEIGHT=%d\n", cfg.VideoHeight)
 	fmt.Fprintf(&buf, "VIDEO_FPS=%d\n", cfg.VideoFPS)

pi/roverd/roverd.sample.yaml

@@ -15,13 +15,13 @@ battery:
   urgent: 1650
 maxWheelSpeed: 350
 media:
-  publishUrl: http://192.168.0.86:8889/whip/roomba-alpha
-  publishPort: 8889
+  publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316
+  publishPort: 9000
   videoWidth: 1280
   videoHeight: 720
   videoFps: 30
   videoBitrate: 3000000
   manage: true
-  service: whip-publisher.service
+  service: video-publisher.service
   healthUrl: ""
   healthInterval: 30s

pi/systemd/video-publisher.service

@@ -1,5 +1,5 @@
 [Unit]
-Description=Rover WHIP Publisher
+Description=Rover Video Publisher (libcamera -> SRT)
 After=network-online.target roverd.service
 Wants=network-online.target
 
@@ -8,8 +8,8 @@ Type=simple
 User=roverd
 Group=roverd
 WorkingDirectory=/var/lib/roverd
-EnvironmentFile=/var/lib/roverd/whip.env
-ExecStart=/usr/local/bin/whip-publisher
+EnvironmentFile=/var/lib/roverd/video.env
+ExecStart=/usr/local/bin/video-publisher
 Restart=always
 RestartSec=2