Address stream artifacting (#4)

* Added underwater calibration

* Updated readme

* Default to underwater calibrations

* Resolved artifacting issue in stream

README.md

@@ -22,6 +22,18 @@ Netmask: 255.255.255.0
 Gateway: 192.168.1.1
 ```
 
+After establishing a connection, verify the RTSP stream using FFmpeg
+
+```bash
+ffplay -fflags nobuffer -flags low_delay -probesize 32 -rtsp_transport tcp -i "rtsp://192.168.1.10:554/user=admin&password=&channel=1&stream=0.sdp?"
+```
+
+The stream can also be recorded using
+
+```bash
+ffmpeg -i "rtsp://192.168.1.10:554/user=admin&password=&channel=1&stream=0.sdp?" -c:v copy -an recording.mp4
+```
+
 ## Using MediaMTX proxy
 
 MediaMTX can be used to connect to the RTSP server embedded into the camera to
@@ -41,22 +53,10 @@ docker compose up
 
 Once running, the stream can be played using FFmpeg
 
-```bash
-ffplay rtsp://<your-ip-address>:<mediamtx-port>/barlus
-```
-
-For low latency FFmpeg streaming, run the following
-
 ```bash
 ffplay  -fflags nobuffer -flags low_delay -probesize 32 -rtsp_transport udp -i rtsp://<your-ip-address>:<mediamtx-port>/barlus
 ```
 
-The stream can also be recorded using
-
-```bash
-ffmpeg -i rtsp://<your-ip-address>:<mediamtx-port>/barlus -c:v copy -an recording.mp4
-```
-
 ## ROS 2 interface
 
 `barlus_gstreamer_proxy` has been implemented to convert frames received from

barlus_gstreamer_proxy/config/gstreamer_proxy.yaml

@@ -1,8 +1,21 @@
 /barlus/gstreamer_proxy:
   ros__parameters:
-    stream_address: rtsp://192.168.1.17:8554/barlus
+    # The default RTSP stream address for the Barlus UW-S5-3PBX10 underwater camera.
+    # If using MediaMTX, this should be the address of the MediaMTX server, e.g.,
+    # stream_address: rtsp://192.168.1.17:8554/barlus
+    stream_address: rtsp://192.168.1.10:554/user=admin&password=&channel=1&stream=0.sdp
+
+    # The path to the camera info file. This file contains the camera calibration information.
     camera_info_url: package://barlus_gstreamer_proxy/config/camera_info_underwater.yaml
+
+    # The frame ID of the camera.
     frame_id: camera_link
+
+    # The default width of the camera image.
     image_width: 3072
+
+    # The default height of the camera image.
     image_height: 2048
+
+    # The name of the camera.
     camera_name: barlus

barlus_gstreamer_proxy/src/gstreamer_proxy.cpp

@@ -104,7 +104,7 @@ auto GStreamerProxy::configure_stream() -> bool
   RCLCPP_INFO(get_logger(), "Starting GStreamer pipeline with address: %s", params_.stream_address.c_str());  // NOLINT
 
   // The following configurations are intended for low-latency transport
-  const std::string video_source = "rtspsrc location=" + params_.stream_address + " latency=0";
+  const std::string video_source = "rtspsrc location=" + params_.stream_address + " protocols=tcp";
   const std::string video_codec = "! rtph264depay ! h264parse ! avdec_h264";
   const std::string video_decode = "! decodebin ! videoconvert ! video/x-raw,format=(string)BGR";
   const std::string video_sink_conf = "! queue ! appsink emit-signals=true sync=false max-buffers=1 drop=true";

barlus_gstreamer_proxy/src/gstreamer_proxy_parameters.yaml

@@ -6,7 +6,7 @@ gstreamer_proxy:
 
   stream_address:
     type: string
-    default_value: rtsp://192.168.1.17:8554/barlus
+    default_value: rtsp://192.168.1.10:554/user=admin&password=&channel=1&stream=0.sdp
     description: The RTSP stream address. This can be either the stream from the camera itself or from MediaMTX.
 
   camera_info_url: