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Note: this repository is under active development. The package provided here is a release candidate; the API may change without notice and no support is provided for it at the moment.
This package provides a ROS Node that will encode a stream of images into an H264 video stream.
Keywords: ROS, ROS2, AWS, Kinesis
The source code is released under LGPL 2.1. However, this package uses
h264_encoder_core which incorporates several different encoding components which may further restrict the license. By default, x264 is used for software encoding, thereby applying GPL to all of h264_video_encoder.
Supported ROS Distributions
GitHub Action Status
ROS build farm:
Not available in apt yet On Ubuntu you can install the latest version of this package using the following command
sudo apt-get update sudo apt-get install -y ros-$ROS_DISTRO-h264-video-encoder
Building from Source
To build from source you'll need to create a new workspace, clone and checkout the latest release branch of this repository, install all the dependencies, and compile. If you need the latest development features you can clone from the
master branch instead of the latest release branch. While we guarantee the release branches are stable, the
master should be considered to have an unstable build due to ongoing development.
Create a ROS workspace and a source directory
mkdir -p ~/ros-workspace/src
Clone the package into the source directory
cd ~/ros-workspace/src git clone https://github.com/aws-robotics/kinesisvideo-encoder-ros2.git
Fetch unreleased dependencies from github
cd ~/ros-workspace cp src/kinesisvideo-encoder-ros2/.rosinstall.master .rosinstall rosws update
cd ~/ros-workspace && sudo apt-get update && rosdep update rosdep install --from-paths src --ignore-src -r -y
Build the packages
cd ~/ros-workspace && colcon build
Configure ROS library Path
Build and run the unit tests
colcon build colcon test && colcon test-results --all
Building on Cloud9 - Cross Compilation
In RoboMaker's Cloud9, start with an empty workspace and in the Cloud9 console:
# build docker image cd /opt/robomaker/cross-compilation-dockerfile/ sudo bin/build_image.bash # this step will take a while
# create workspace mkdir -p ~/environment/robot_ws/src cd ~/environment/robot_ws/src git clone https://github.com/aws-robotics/kinesisvideo-encoder-common.git git clone https://github.com/aws-robotics/kinesisvideo-encoder-ros2.git
# run docker image cd .. sudo docker run -v $(pwd):/ws -it ros-cross-compile:armhf
Now you're inside the cross-compilation docker container
# build the workspace cd ws apt update rosdep install --from-paths src --ignore-src -r -y # this step will take a while colcon build --build-base armhf_build --install-base armhf_install colcon bundle --build-base armhf_build --install-base armhf_install --bundle-base armhf_bundle --apt-sources-list /opt/cross/apt-sources.yaml # this step will take a while exit
Now you're oustide the cross-compilation docker container
# for more on copying s3 buckets see: https://docs.aws.amazon.com/cli/latest/reference/s3/cp.html aws s3 cp armhf_bundle/output.tar.gz s3://
A launch file called
h264_video_encoder_launch.py is included in this package. The launch file uses the following arguments:
|node_name||(optional) The name the H264 encoder node should be launched with. If not provided, the node name will default to
|config||(optional) A path to a ros2 parameters yaml file. By default uses config/sample_configuration.yaml|
Running the node
To launch the H264 encoder node, you can run the following command:
ros2 launch h264_video_encoder h264_video_encoder_launch.py
Configuration File and Parameters
An example configuration file called
sample_configuration.yaml is provided for running the H264 encoder node on a Raspberry Pi based system.
When the parameters are absent, default values are used, thus all parameters are optional. See table below for details.
|queue_size||(optional) The maximum number of incoming and outgoing messages to be queued towards the subscribed and publishing topics.||integer|
|output_width||(optional) The desired width (in pixels) of each frame in the encoded video output.||integer|
|output_height||(optional) The desired height (in pixels) of each frame in the encoded video output.||integer|
|fps_numerator||(optional) The desired frames per second (the numerator portion when expressing FPS as a rational number) for the encoded video output.||integer|
|fps_denominator||(optional) The desired frames per second (the denominator portion when expressing FPS as a rational number) for the encoded video output.||integer|
|bitrate||(optional) The desired bitrate (in bits per second) of the encoded video output.||integer|
|Topic Name||Message Type||Description|
|Configurable (default="video/encoded")||kinesis_video_msgs/KinesisVideoFrame||The node will publish to a topic of a given name. Each message being published contains a chunk of the video stream, usually per video frame.|
|Topic Name||Message Type||Description|
|Configurable (default="/raspicam_node/image")||sensor_msgs/Image||The node will subscribe to a topic of a given name. The data is expected to be a stream of images from a source (such as a Raspberry Pi camera).|
Bugs & Feature Requests
Please contact the team directly if you would like to request a feature.
Please report bugs in Issue Tracker.
Thank you for your interest in contributing to our project. Whether it's a bug report, new feature, correction, or additional documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn't already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you've made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send us a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
Finding contributions to work on
Looking at the existing issues is a great way to find something to contribute on. As our projects, by default, use the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any 'help wanted' issues is a great place to start.
Code of Conduct
This project has adopted the Amazon Open Source Code of Conduct. For more information see the Code of Conduct FAQ or contact firstname.lastname@example.org with any additional questions or comments.
Security issue notifications
If you discover a potential security issue in this project we ask that you notify AWS/Amazon Security via our vulnerability reporting page. Please do not create a public github issue.
See the LICENSE file for our project's licensing. We will ask you to confirm the licensing of your contribution.
We may ask you to sign a Contributor License Agreement (CLA) for larger changes.