ubuntu 使用webrtc_ros 编译linux webrtc库

webrtc_ros 使用WebRTC流式传输ROS图像主题 该节点提供了一个WebRTC对等方，可以将其配置为流ROS图像主题并接收发布到ROS图像主题的流。 该节点托管一个提供简单测试页面的Web服务器，并提供可用于创建和配置WebRTC对等方的Websocket服务器。 有关完整文档，请参见 。 该项目是努力的一部分而发布。

克隆

https://github.com/RobotWebTools/webrtc_ros

catkin_make

报错:

  Could not find a package configuration file provided by "webrtc" with any
  of the following names:

    webrtcConfig.cmake
    webrtc-config.cmake

  Add the installation prefix of "webrtc" to CMAKE_PREFIX_PATH or set
  "webrtc_DIR" to a directory containing one of the above files.  If "webrtc"
  provides a separate development package or SDK, be sure it has been
  installed.
 

安装依赖

sudo apt-get update
sudo apt-get install build-essential libssl-dev libasound2-dev libpulse-dev libjpeg-dev libxv-dev libgtk-3-dev libxtst-dev libwebp-dev
sudo apt-get install libglib2.0-dev

sudo apt-get update 报错时出现同样问题参考:

https://blog.csdn.net/qq_15204179/article/details/134612954?spm=1001.2014.3001.5501

mkdir /webrtc
cd webrtc
git clone https://chromium.googlesource.com/chromium/tools/depot_tools.git
export PATH=$PATH:/home/sukai/3rdparty/webrtc/depot_tools

git clone https://github.com/crow-misia/libwebrtc-bin
cd libwebrtc-bin/build
make USE_H264=1 linux-x64

编译时间比较长:

 出现这个要耐心等等,不要以为程序进入了死循环,过一段时间会显示进度的.

[0:07:48] Still working on:
[0:07:48]   src/third_party
[0:07:48]   src/tools

静待编译完成, 最后在libwebrtc-bin目录中有各package目录，其中包含了include lib libwebrtc-linux-x64-h264.tar.xz NOTICE VERSION等几个目录，lib目录中为编译后的 .a库，相关的头文件在include目录中。
/home/sukai/3rdparty/webrtc/libwebrtc-bin/package/include /home/sukai/3rdparty/webrtc/libwebrtc-bin/package/lib

法二:

cd ~
git clone https://chromium.googlesource.com/chromium/tools/depot_tools.git
sudo vim ~/.bashrc 
export PATH="$PATH:~/depot_tools"
source ~/.bashrc

mkdir webrtc-checkout
cd webrtc-checkout
fetch --nohooks webrtc
gclient sync