legop3/MultiRoombaRover
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giuhu

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legop3
2025-11-29 03:31:31 -05:00
parent 82b4e14194
commit 5645bfdee3
6 changed files with 4 additions and 4 deletions
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dist/roverd
Vendored
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dist/servoverifier
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pi/bin/video-publisher.sh
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@@ -132,7 +132,7 @@ run_pipeline() {
-ar:a "${AUDIO_OUT_RATE}" \ -ar:a "${AUDIO_OUT_RATE}" \
-ac:a "${AUDIO_OUT_CHANNELS}" \ -ac:a "${AUDIO_OUT_CHANNELS}" \
-application lowdelay \ -application lowdelay \
-frame_duration 20 \ -frame_duration 10 \
-compression_level 0 \ -compression_level 0 \
-muxpreload 0 \ -muxpreload 0 \
-muxdelay 0 \ -muxdelay 0 \
pi/install_roverd.sh
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@@ -213,7 +213,7 @@ log "Installed audio-capture helper + systemd unit"
install -d -o roverd -g roverd /var/lib/roverd install -d -o roverd -g roverd /var/lib/roverd
cat > /var/lib/roverd/video.env <<'ENV' cat > /var/lib/roverd/video.env <<'ENV'
# Managed by roverd; placeholder values will be overwritten at runtime. # Managed by roverd; placeholder values will be overwritten at runtime.
PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316 PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
VIDEO_WIDTH=1280 VIDEO_WIDTH=1280
VIDEO_HEIGHT=720 VIDEO_HEIGHT=720
VIDEO_FPS=30 VIDEO_FPS=30
pi/roverd/config.go
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@@ -284,5 +284,5 @@ func derivePublishURL(serverURL, roverName string, port int) (string, error) {
port = 9000 port = 9000
} }
streamName := url.PathEscape(roverName) 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 return fmt.Sprintf("srt://%s:%d?streamid=#!::r=%s,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316", host, port, streamName), nil
} }
pi/roverd/roverd.sample.yaml
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@@ -15,7 +15,7 @@ battery:
urgent: 1650 urgent: 1650
maxWheelSpeed: 350 maxWheelSpeed: 350
media: media:
publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316 publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
publishPort: 9000 publishPort: 9000
videoWidth: 1280 videoWidth: 1280
videoHeight: 720 videoHeight: 720