legop3/MultiRoombaRover
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legop3
2025-11-14 03:56:07 -05:00
parent 026ce2efac
commit a90033e933
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README.md
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@@ -56,7 +56,7 @@ cd ~/MultiRoombaRover
sudo ./pi/install_roverd.sh --mediamtx sudo ./pi/install_roverd.sh --mediamtx
``` ```
Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, set `name` to the rover’s ID, and edit `/etc/mediamtx/mediamtx.yml` so `whipPublishURLs` contains `http://192.168.0.86:8889/whip/<name>`. The Pi continuously pushes WebRTC media to the control server; drivers/spectators always watch through the server-side mediaMTX, so no browser ever talks to the Pi directly. Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, set `name` to the rover’s ID, and edit `/etc/mediamtx/mediamtx.yml` so `whipPublishURL` is `http://192.168.0.86:8889/whip/<name>`. The Pi continuously pushes WebRTC media to the control server; drivers/spectators always watch through the server-side mediaMTX, so no browser ever talks to the Pi directly.
Use the “Restart Camera” button if you enable media management so roverd can bounce the mediamtx service remotely. Use the “Restart Camera” button if you enable media management so roverd can bounce the mediamtx 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. 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.
docs/pi-deployment.md
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@@ -92,7 +92,7 @@ If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` se
sudo systemctl enable --now mediamtx.service sudo systemctl enable --now mediamtx.service
``` ```
The sample config uses the Raspberry Pi camera module as the source, enables the local mediaMTX HTTP API so `roverd` can health-check the service, and includes a placeholder WHIP target pointing at the control server (`http://192.168.0.86:8889/whip/ROVER_ID`). Replace `ROVER_ID` with the value of `name` from `/etc/roverd.yaml` so every rover pushes to a unique publish path. The sample config uses the Raspberry Pi camera module as the source, enables the local mediaMTX HTTP API so `roverd` can health-check the service, and includes a placeholder WHIP target pointing at the control server (`whipPublishURL: http://192.168.0.86:8889/whip/ROVER_ID`). Replace `ROVER_ID` with the value of `name` from `/etc/roverd.yaml` so every rover pushes to a unique publish path.
Expose the mediaMTX HTTP API locally (default `http://127.0.0.1:9997`) and set `media.healthUrl` so `roverd` can monitor the pipeline; `media.service` should match the systemd unit name (default `mediamtx.service`). Expose the mediaMTX HTTP API locally (default `http://127.0.0.1:9997`) and set `media.healthUrl` so `roverd` can monitor the pipeline; `media.service` should match the systemd unit name (default `mediamtx.service`).
Once the WHIP URL points at the server, the Pi continuously publishes to `192.168.0.86`; the server-side mediaMTX fans the stream out to every driver/spectator via WHEP—no Pi ever serves viewers directly. Once the WHIP URL points at the server, the Pi continuously publishes to `192.168.0.86`; the server-side mediaMTX fans the stream out to every driver/spectator via WHEP—no Pi ever serves viewers directly.
pi/mediamtx/mediamtx.yml
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@@ -19,5 +19,4 @@ paths:
rpiCameraHFlip: false rpiCameraHFlip: false
rpiCameraVFlip: false rpiCameraVFlip: false
# Replace ROVER_ID with the rover's configured name before deploy. # Replace ROVER_ID with the rover's configured name before deploy.
whipPublishURLs: whipPublishURL: http://192.168.0.86:8889/whip/Freaky
- http://192.168.0.86:8889/whip/ROVER_ID