ROS-Ros_RTSP推流

订阅相机的image话题，转为RTSP推流，ROS-RTSP功能包实现了该能力

依赖：

1.ROS环境

2.gstreamer 库文件

sudo apt-get install libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev libgstreamer-plugins-bad1.0-dev libgstrtspserver-1.0-dev gstreamer1.0-plugins-ugly gstreamer1.0-plugins-bad

操作：

1.新建目录：

cd ~/catkin_ws/src

2.复制代码：

git clone https://github.com/CircusMonkey/ros_rtsp.git

3.编译：

  cd..

  catkin_make pkg:=ros_rtsp

4.修改配置文件：

目录：config/stream_setup.yaml

5.启动：

roslaunch ros_rtsp rtsp_streams.launch

In the following examples, replace the rtsp://127.0.0.1:8554/front with your servers IP address and mount point rtsp://YOUR_IP:8554/MOUNT_POINT

另有其他参考样例：

ros_rtsp推流

Android播放器之Exoplayer