视觉检测与视频推流

# 1. 安装 GStreamer 及其插件（包含 app 库）
sudo sed -i 's/mirrors.tuna.tsinghua.edu.cn/mirrors.ustc.edu.cn/g' /etc/apt/sources.list
sudo apt-get update

# 编译安装 Rockchip 多媒体组件
sudo apt-get install -y --fix-missing gcc g++ cmake meson ninja-build \
    libdrm-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
    gstreamer1.0-plugins-base gstreamer1.0-plugins-good \
    gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly \
    gstreamer1.0-tools gstreamer1.0-rtsp

# 2. 创建工作目录
sudo mkdir -p /opt/rk_multimedia
sudo chown $USER:$USER /opt/rk_multimedia
cd /opt/rk_multimedia

# 3. 编译安装 MPP (Media Process Platform)
git clone https://github.com/rockchip-linux/mpp.git --depth=1
cd mpp
cd build
cmake -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=Release ..
make -j$(nproc)
sudo make install
sudo ldconfig
cd ../..

# 4. 安装 librga (使用预编译库)
git clone https://gitee.com/airockchip/librga.git --depth=1
cd librga
sudo cp -r include/* /usr/local/include/
sudo cp -r libs/Linux/gcc-aarch64/* /usr/local/lib/

# 手动创建 pkgconfig 文件
sudo mkdir -p /usr/local/lib/pkgconfig
sudo tee /usr/local/lib/pkgconfig/librga.pc > /dev/null <<EOF
prefix=/usr/local
exec_prefix=\${prefix}
libdir=\${exec_prefix}/lib
includedir=\${prefix}/include

Name: librga
Description: Rockchip RGA 2D graphics acceleration library
Version: 1.10.0
Libs: -L\${libdir} -lrga
Cflags: -I\${includedir}
EOF

sudo ldconfig
cd ..

# 5. 编译安装 gstreamer-rockchip 插件
git clone https://gitee.com/emancipator/gstreamer-rockchip.git gstreamer-rockchip
cd gstreamer-rockchip
export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH
meson setup build --prefix=/usr --buildtype=release
ninja -C build
sudo ninja -C build install

# 6. 更新库缓存并验证
gst-inspect-1.0 | grep mpp

# 1. 安装 ROS2 依赖
sudo apt-get install -y ros-humble-image-transport ros-humble-cv-bridge

# 2. 安装 RTSP 推流服务器 (go2rtc)
wget https://github.com/AlexxIT/go2rtc/releases/latest/download/go2rtc_linux_arm64 -O /usr/local/bin/go2rtc
chmod +x /usr/local/bin/go2rtc

# 3. 创建配置文件 /etc/go2rtc.yaml
sudo bash -c 'cat <<EOF > /etc/go2rtc.yaml
streams:
  camera: null

api:
  listen: ":1984"

rtsp:
  listen: ":8554"

webrtc:
  listen: ":8555"
  candidates:
    - 192.168.22.219:8555 # 请修改为你的板卡实际 IP
EOF'

# 4. 设置go2rtc开机自启动 (Systemd 服务)
sudo bash -c 'cat <<EOF > /etc/systemd/system/go2rtc.service
[Unit]
Description=Go2RTC Media Server
After=network.target

[Service]
ExecStart=/usr/local/bin/go2rtc -c /etc/go2rtc.yaml
WorkingDirectory=/etc
Restart=always
User=root

[Install]
WantedBy=multi-user.target
EOF'

# 5. 启用并启动服务
sudo systemctl daemon-reload
sudo systemctl enable go2rtc
sudo systemctl start go2rtc

cd /mnt/nfs/hy_ros
source /opt/ros/humble/setup.bash
colcon build --packages-select rk_camera rk_inference rk_streamer
source install/setup.bash
# 三个独立进程，适合逐项调试；各终端先加载相同工作区环境。
ros2 launch rk_camera rk_camera.launch.py
ros2 launch rk_inference rk_inference.launch.py
ros2 launch rk_streamer rk_streamer.launch.py

colcon build --packages-up-to all_launch rk_camera rk_inference rk_streamer
source install/setup.bash
ros2 launch all_launch all_launch.launch.py