mediamtx-gazebo.yml

# MediaMTX configuration for Gazebo camera streaming.
#
# Usage:
#   mediamtx mediamtx-gazebo.yml
#
# This config enables demand-based streaming: when a browser navigates
# to http://localhost:8889/<path>, MediaMTX sends a start command to
# the Gazebo CameraStream plugin. When all viewers disconnect and the
# timeout expires, it sends a stop command. The Gazebo encoder idles
# when nobody is watching.
#
# The path pattern "gz~^(.+)$" matches any path prefixed with "gz"
# (e.g., gz/camera, gz/cam2). The camera name is extracted from the
# path via regex group G1.

# Inherit all defaults from the system config
logLevel: info

# Control API (paths list, session management)
api: yes
apiAddress: :9997

# RTSP
rtsp: yes
rtspAddress: :8554

# WebRTC (includes WHIP ingest and WHEP playback)
webrtc: yes
webrtcAddress: :8889

# Force IPv4 loopback for local-only use.
# Without this, ICE sometimes picks IPv6 link-local addresses
# which causes DTLS handshake failures between publisher and viewer.
webrtcLocalUDPAddress: 127.0.0.1:8189
webrtcIPsFromInterfaces: no
webrtcAdditionalHosts:
  - 127.0.0.1

# HLS fallback
hls: yes
hlsAddress: :8888

# Path configuration
pathDefaults:
  # No special defaults needed

paths:
  # Gazebo camera streams - demand-based lifecycle.
  # Browser visits http://localhost:8889/cam1 ->
  #   MediaMTX runs runOnDemand which tells Gazebo to start streaming.
  # All browsers leave + 10s timeout ->
  #   MediaMTX sends SIGINT to runOnDemand, then runs runOnUnDemand
  #   which tells Gazebo to stop streaming.
  #
  # The path name IS the camera name, so requesting "cam1" streams
  # the camera named "cam1" from Gazebo.
  ~^(cam.+)$:
    runOnDemand: >-
      gz topic -t /stream/control -m gz.msgs.StringMsg_V
      -p 'data: "start" data: "$G1" data: "http://localhost:8889/$G1/whip"'

    runOnDemandRestart: no

    # Wait up to 15s for Gazebo to start publishing (WHIP negotiation
    # takes ~1-2s, but first render may take longer on cold start)
    runOnDemandStartTimeout: 15s

    # Keep streaming for 10s after the last viewer disconnects.
    # This avoids stop/start churn if someone refreshes the page.
    runOnDemandCloseAfter: 10s

    # When the demand window closes, tell Gazebo to stop encoding.
    runOnUnDemand: >-
      gz topic -t /stream/control -m gz.msgs.StringMsg_V
      -p 'data: "stop" data: "$G1"'

  # Direct-control paths - for streams started explicitly via the
  # viewer UI or gz topic CLI. No demand-based lifecycle.
  # These stay alive until explicitly stopped.
  all_others: