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RpiRobot

RpiRobot is a Raspberry Pi-based robot project that features direct low-latency video streaming from the Raspberry Pi to a web browser over WebSocket. The project has been successfully tested with up to 7 connected clients.

Hardware Requirements

  • Raspberry Pi 1 Model A+
  • Raspberry Pi Camera Module

Software Requirements

  • Raspberry Pi OS (Bullseye) with legacy Raspivid camera stack enabled
  • uWebSockets library

Installation and Setup

  1. Install Raspberry Pi OS (Bullseye) on your Raspberry Pi and enable the legacy Raspivid camera stack.

  2. Install the uWebSockets library by following the instructions in the uWebSockets documentation.

  3. Compile the video_stream_server.cpp file located in the examples folder of the uWebSockets installation using the following command:

    sudo g++ -march=native -pthread -O3 -std=c++20 -Isrc -IuSockets/src -flto examples/video_stream_server.cpp uSockets/*.o -lz -o video_stream_server

  4. Copy the compiled video_stream_server executable, as well as the camera_settings.txt file, to the /usr/local/bin/ directory on your Raspberry Pi.

  5. Compile the motor_control.c file and copy the resulting executable to the /usr/local/bin/ directory as well.

  6. Place the index.html file in a web-accessible directory on your Raspberry Pi.

Usage

  1. Run the motor_control to allow controlling the robot's movement
  2. Run the video_stream_server executable to start the video streaming server.
  3. Open the index.html file in a web browser to view the live video stream from the Raspberry Pi camera.

Limitations

  • This project is based on the older Raspberry Pi 1 Model A+ hardware, which may have limitations in terms of processing power and video quality compared to newer Raspberry Pi models.
  • The video streaming is limited to a maximum of 7 connected clients, as tested.