Video

📥 Quick and easy access to the robot's video stream data.

Receive the available RTSP video streams using the following commands in your terminal.

Robot Streams (RTSP)

Current view

Mirrors the camera the operator app is showing. While the app shows no camera — the 3D view, for example — this path carries no video, and a client opening it gets an error after about 10 seconds. If the app closes or loses its link while showing a camera, this path keeps sending that camera until the app reconnects. After a Streamer restart it has no video until the app shows a camera. Because it follows every camera switch the operator makes, use front / rear below for a feed that must stay on one camera.

gst-launch-1.0 rtspsrc location='rtsp://192.168.0.10:8554/live' latency=100 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! xvimagesink

📝 NOTE

The front and rear paths are off by default. To turn them on, set RTSP_FRONT / RTSP_REAR to true in Streamer.ini and restart the Streamer.

• The file is /home/rbq/.config/RBQ/Streamer.ini on the PC that runs the Streamer (192.168.0.10). The Streamer creates it on its first run.
• In the app, edit it under Maintenance → Config file (choose Streamer.ini as the target), then restart the Streamer by pressing Streamer once in Vision Programs under Maintenance → Vision. Both sections need developer mode — see Maintenance.

Front camera

gst-launch-1.0 rtspsrc location='rtsp://192.168.0.10:8554/front' latency=100 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! xvimagesink

Rear camera

gst-launch-1.0 rtspsrc location='rtsp://192.168.0.10:8554/rear' latency=100 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! xvimagesink

Thermal camera

gst-launch-1.0 rtspsrc location='rtsp://192.168.0.10:8554/thermal' latency=100 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! xvimagesink

📝 NOTE

The PTZ payload must be loaded on the robot to access the thermal video stream, and RTSP_THERMAL must be set to true in Streamer.ini — edit it and restart the Streamer as in the note above.

PTZ camera

The PTZ camera's zoom view, through the robot.

gst-launch-1.0 rtspsrc location='rtsp://192.168.0.10:8554/cctv' latency=100 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! xvimagesink

📝 NOTE

The PTZ payload must be loaded on the robot, and RTSP_CCTV must be set to true in Streamer.ini — edit it and restart the Streamer as in the note above.

To receive the camera's own stream or move the camera, see PTZ Camera.

Still image

To save one frame from any of the streams above, read a single frame with ffmpeg.

ffmpeg -rtsp_transport tcp -i rtsp://192.168.0.10:8554/thermal -frames:v 1 thermal.jpg