We have made a difficult decision of ceasing active development on this repo as of Jul 2022.

1. ROS KVS Stramer

Generic ROS1 kinesis video streamer

1.1 License

The source code is released under Apache 2.0.

1.2 Resources

• ROS KVS streamer

2. Open source packages from github

Under the condition that RoboMaker team does not bloom release these packages for Ubuntu20:04 and ROS Noetic, they have to be built from source. .git and .github are removed to track these code in code.amazon.com. Otherwise, these packages will be track as sudmodules.

2.1 utils-common

https://github.com/aws-robotics/utils-common at commit b70e9416968ca5a56fd263ff9c96c80793a7230f

ROS AWS Utils Common Library

2.2 utils-ros1

https://github.com/aws-robotics/utils-ros1 at commit d4d64f73727149fd8885f13581a74d5ca6dcfb6c

AWS Utils Library for ROS1 with patch aws-robotics/utils-ros1#36 to support ROS Noetic with Ubuntu20:04 SDK

2.3 kinesisvideo-encoder-common

https://github.com/aws-robotics/kinesisvideo-encoder-common at commit b798a06cca43891170d33da3aa329648c864a418

ROS H264 Video Encoding Library for Amazon Kinesis Video Streams

2.4 kinesisvideo-encoder-ros1

https://github.com/aws-robotics/kinesisvideo-encoder-ros1.git at commit d2e3fb3e72fc481e18b8c29e4d831707e453d276

h264_video_encoder

2.5 kinesisvideo-common

https://github.com/aws-robotics/kinesisvideo-common at commit b0b4d9f011454a22957383cf3ef5c781e2384a96

ROS Kinesis Service Common Library

2.6 kinesisvideo-ros1

https://github.com/aws-robotics/kinesisvideo-ros1 at commit ad9014035ca16d5b212c4f58ffcbb346a53b441b

kinesis_video_streamer

3. Setup

3.1 setup

download all required GitHub repo as specified in section 2 and patch them.

chmod +x setup.sh
./setup.sh

Follow standard ros procedure to build

colcon build

3.2 aws configure

follow this https://docs.aws.amazon.com/cli/latest/userguide/cli-configure-quickstart.html to configure aws credential which grant kvs permission to the running docker instance.

4. Launch and run

There are two ways to launch kvs streamer for byoa through launch file or python script

4.1 using launch file

In order to launch through launch file, one need to use h264_video_encoder.launch and kinesis_video_streamer.launch with corresponding argument and ns.

• ns: ros node namespace. For example “/agent0”
• topic: ros topic that will be published to kinesis video stream server. For example, "/agent0/follow_camera/zed/rgb/image_rect_color"
• stream_name: AWS kinesis video stream service stream name. For example, "byoa_test_stream".
• stream_region: AWS kinesis video stream service stream region. For example, "us-east-1".

    <include file="$(find ros_kvs_streamer)/launch/h264_video_encoder.launch" ns="/agent0">
      <arg name="topic" value="/agent0/follow_camera/zed/rgb/image_rect_color" />
    </include>

    <include file="$(find ros_kvs_streamer)/launch/kinesis_video_streamer.launch" ns="/agent0">
      <arg name="topic" value="/agent0/follow_camera/zed/rgb/image_rect_color" />
      <arg name="stream_name" value="byoa_test_stream" />
      <arg name="stream_region" value="us-east-1" />
    </include>

4.2 using python script

Besides using launch file, one can also using python script KvsStreamer which warp both h264_video_encoder.launch and kinesis_video_streamer.launch to start kvs through popen subprocess call to start launch file.

There are two ways to start/stop kvs streamer by using class instantiation or static method. Here are the use case for each of them.

• Clase instantiation.
  • start/stop kvs service are in the same module. In this case, one does not need to keep track of namespace and KvsStreamer instance will track all internal parameters.
• Static method
  • start/stop kvs service are in multiple modules. In this case one need to track the namespace to stop after it is started at another module.

from ros_kvs_streamer.kvs_streamer import KvsStreamer

#############################
# start using static method #
#############################
KvsStreamer.start(
    namespace="agent0",
    topic="/agent0/follow_camera/zed/rgb/image_rect_color",
    stream_name="byoa_test_stream",
    stream_region="us-east-1")

############################
# stop using static method #
############################
KvsStreamer.stop(
    namespace="agent0") 

#############################
# using class instantiation #
#############################
kvs_streamer = KvsStreamer(
    namespace="agent0",
    topic="/agent0/follow_camera/zed/rgb/image_rect_color",
    stream_name="byoa_test_stream",
    stream_region="us-east-1")
    
# start
kvs_streamer.start()

# stop
kvs_streamer.stop()

5. checkout kvs stream

Log into your aws account that you set up permission for step 3 through isengard, go to Kinesis Video Streams service and then video streams tab on the left. Then, search for the stream_name that you specified.