Reachy Mini documentation
📡 GStreamer Installation
📡 GStreamer Installation
This guide will help you install GStreamer for receiving video and audio streams from your Reachy Mini. See the media architecture to understand how streams are accessed locally or remotely depending on the configuration.
Python wheels are available for the Windows and macOS platforms and are included in the project dependencies. Everything should work out of the box. For Linux users, a manual installation is required.
| 🐧 Linux | 🍎 macOS | 🪟 Windows |
|---|---|---|
| ⚠️ Manual installation | ✅ Python wheels | ✅ Python wheels |
🔧 Install GStreamer
Step 1: Install GStreamer
For Ubuntu/Debian-based systems:
In your terminal, run:
sudo apt-get update
sudo apt-get install -y \
libgstreamer-plugins-bad1.0-dev \
libgstreamer-plugins-base1.0-dev \
libgstreamer1.0-dev \
libglib2.0-dev \
libssl-dev \
libgirepository1.0-dev \
libcairo2-dev \
libportaudio2 \
libnice10 \
gstreamer1.0-plugins-good \
gstreamer1.0-alsa \
gstreamer1.0-plugins-bad \
gstreamer1.0-nice \
python3-gi \
python3-gi-cairoFor Ubuntu 22.04 only: The default GStreamer version is too old. Gstreamer >=1.22 is required. You need to add a PPA to get GStreamer 1.24.x:
sudo add-apt-repository ppa:savoury1/multimedia
sudo apt update
sudo apt install \
libgstreamer1.0-dev \
libgstreamer-plugins-base1.0-dev \
libgstreamer-plugins-good1.0-dev \
libgstreamer-plugins-bad1.0-devVerify you have the correct version:
pkg-config --modversion gstreamer-1.0
# Should output 1.24.x or higherStep 2: Install Rust
On Linux, the WebRTC plugin is not enabled by default and needs to be compiled manually from the Rust source code. Install Rust from the command line using rustup:
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
source $HOME/.cargo/envStep 3: Build and install WebRTC plugin
To build and install the WebRTC plugin, run the following commands:
# Clone the GStreamer Rust plugins repository
git clone https://gitlab.freedesktop.org/gstreamer/gst-plugins-rs.git
cd gst-plugins-rs
git checkout 0.14.1
# Install the cargo-c build tool
cargo install cargo-c
# Create installation directory
sudo mkdir -p /opt/gst-plugins-rs
sudo chown $USER /opt/gst-plugins-rs
# Build and install the WebRTC plugin (this may take several minutes)
cargo cinstall -p gst-plugin-webrtc --prefix=/opt/gst-plugins-rs --release
# Add plugin path to your environment
echo 'export GST_PLUGIN_PATH=/opt/gst-plugins-rs/lib/x86_64-linux-gnu:$GST_PLUGIN_PATH' >> ~/.bashrc
source ~/.bashrc💡 Note: For ARM64 systems (like Raspberry Pi), replace
x86_64-linux-gnuwithaarch64-linux-gnuin the export command.
✅ Verify Installation
Finally, you can test your GStreamer installation as follows:
# Check version
gst-launch-1.0(.exe) --version
# Test basic functionalities
gst-launch-1.0 videotestsrc ! autovideosink
# Verify WebRTC plugin
gst-inspect-1.0 webrtcsrcYou should also be able to import GStreamer libraries in a Python environment:
python -c "import gi"Troubleshooting & Unit Tests
If you encounter issues with the stream, you can test the components individually as follows.
Test 1: Manually create the WebRTC Server Run this GStreamer pipeline on the robot to verify the camera and encoder stack:
gst-launch-1.0 webrtcsink run-signalling-server=true meta="meta,name=reachymini" name=ws libcamerasrc ! capsfilter caps=video/x-raw,width=1280,height=720,framerate=60/1,format=YUY2,colorimetry=bt709,interlace-mode=progressive ! queue ! v4l2h264enc extra-controls="controls,repeat_sequence_header=1" ! 'video/x-h264,level=(string)4' ! ws. alsasrc device=hw:4 ! queue ! audioconvert ! audioresample ! opusenc ! audio/x-opus, rate=48000, channels=2 ! ws.