Low latency Jetbot teleop with WebRTC

Robotics & Edge Computing Jetson & Embedded Systems Jetson Nano
1

Hello,

I would like to pilot my Jetbot from a distant web browser, so I’d need a low latency video feed solution. The robot has a Raspberry camera V2 connected through CSI to the Jetson Nano.
To do that with a CSI camera connected to a Raspberry Pi based robot, I am using the great UV4L WebRTC streaming server: UV4L – (advanced) Projects. Thanks to WebRTC, it allows to display the camera feed on the web browser with extremelly low latency (less than 80ms in a local network and less than 200ms from the internet @720p 15fps).

I guess this use case is pretty common, that’s why I think a good solution might already exist for the Jetbot.

If not, what would be the best way to achieve such a low latency with the Jetson Nano.

  1. Setting up a WebRTC server on the Nano, but as it is said here: https://devtalk.nvidia.com/default/topic/1068485/jetson-nano/webrtc-on-jetson-nano/post/5418378/#5418378, only USB camera are supported on the Jetson Nano with WebRTC… Driver need to be modified? Is it planned?
  2. Custom implementation of gstreamer to WebRTC using GstWebRTC https://lazka.github.io/pgi-docs/GstWebRTC-1.0/index.html?
  3. Using DeepStream SDK to output a RTSP stream and read the stream in the browser with something like https://github.com/Streamedian/html5_rtsp_player/wiki/HTML5-RTSP-Player? but in this case I am not sure about the latency we could hope for…

Thanks for your insights.

2

Have a reference to below vendor for the WebRTC

For the RTSP latency you may need to take time to try.

3

@ShaneCCC
Is it possible to use the webRTC framework for Jetson with non-USB cameras? I’d like to get a low latency stream from a Geneie Nano camera which is a camera that works through ehternet, not USB, so it doesn’t show up as /dev/video* . As the source code for the video_playback binary isn’t provided, I can’t modify it to take data from the camera. What are my options? Cheers!

4

You can check with camera partner to get YUV sensor and use rtsp protocol to streaming through ethernet.

5

What if I’d like to webRTC with the cameras I’ve got currently? Is that not possible?

6

Hi @farbod1277,

I have an ethernet camera connected to my Jetson Nano and can display that video using gstreamer.

I also want to build up a webRTC server on my nano to stream the video (RTP, H264) in the browser. Did you find a working solution?

Thanks.