feat: add ROS and native adapters with shared sensor-manager proxy #4

Merged

iboubakri merged 2 commits from feature/ros-adapter into main

2026-06-30 22:11:51 +02:00

iboubakri commented

2026-06-30 20:10:40 +02:00

Owner

Description

This PR introduces the ROS and Native Camera adapters with a shared sensor-manager proxy architecture.

Native Camera Adapter

Go-based native camera adapter service
Camera and stream management with JWT authentication
MediaMTX streaming integration (WebRTC/RTSP)
RESTful API for camera registration and stream management
Docker containerization

ROS Adapter

Python-based ROS adapter with ROS-to-MediaMTX bridge
USB camera and GSCam driver implementations
ROS node discovery and launcher scripts
Integration with MediaMTX for streaming

Shared Infrastructure

Shared JWT authentication module
Shared MediaMTX streaming client
Updated server router with new adapter routes
Environment variable configuration for both adapters

Architecture

The adapters communicate with the central sensor-manager via a unified proxy pattern, enabling seamless integration with VP_Backend and MedusFront.

Testing

Docker Compose stack tested locally
Native camera capture and streaming verified
ROS adapter tested with USB camera

## Description This PR introduces the ROS and Native Camera adapters with a shared sensor-manager proxy architecture. ### Native Camera Adapter - Go-based native camera adapter service - Camera and stream management with JWT authentication - MediaMTX streaming integration (WebRTC/RTSP) - RESTful API for camera registration and stream management - Docker containerization ### ROS Adapter - Python-based ROS adapter with ROS-to-MediaMTX bridge - USB camera and GSCam driver implementations - ROS node discovery and launcher scripts - Integration with MediaMTX for streaming ### Shared Infrastructure - Shared JWT authentication module - Shared MediaMTX streaming client - Updated server router with new adapter routes - Environment variable configuration for both adapters ## Architecture The adapters communicate with the central sensor-manager via a unified proxy pattern, enabling seamless integration with VP_Backend and MedusFront. ## Testing - Docker Compose stack tested locally - Native camera capture and streaming verified - ROS adapter tested with USB camera

iboubakri added 2 commits

2026-06-30 20:10:41 +02:00

feat: add ROS and native adapters with shared sensor-manager proxy. cc0da1c733

Introduce host-side ROS adapter (usb_cam/gscam to MediaMTX), native V4L2 adapter, shared auth/streaming packages, and sensor-manager routing for all adapter types.

Co-authored-by: Cursor <cursoragent@cursor.com>

fix: URL-encode MediaMTX paths and tolerate existing publisher paths. 0cdd7d081b

ROS/native stream paths like ros/<id> failed to register when slashes were not encoded in MediaMTX API URLs, leaving previews stuck on "path already exists".

Co-authored-by: Cursor <cursoragent@cursor.com>