Writing a tf broadcaster pro

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Writing a tf broadcaster pro

We report on a survey of the use of streaming media in the academic community in Europe, an open source content delivery network, and a portal for announcing live streaming events to the global academic community.

In this paper we report on results of the streaming media survey, the live streaming announcement portal and the live streaming infrastructure also known as Open Content Delivery Network, or Open CDN.

Report on Streaming Video Survey [2]. The survey was targeted towards people that regularly deal with streaming video: Distribution of respondents by country contained a total of questions, organised in 49 pages.

Each respondent would see a subset of these questions, depending on the answers to certain key questions. Content for streaming 2. Camera and production equipment 4. Future plans In this paper, we will only present selected results and refer the interested reader to the full report [2] for the details left out here.

As a result, the questionnaire was answered by 77 respondents from seventeen different countries see Fig. The respondents provided links to their own portals and archives, and the full list of portals and archives can be found in Deliverable B.

Looking at the different portals, it is clear that there is a large variation in scope, design and functionality of the different portals.

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It also shows that there is a need for a common portal — at least for high profile events that are of interest also outside a narrow community.

In the category of streaming announcement portal, a total of twenty-four links were submitted. It would be much easier to consult just one portal writing a tf broadcaster pro to cycle through even an abbreviated list of more specific portals.

Several other types of streaming servers were reported used, but of these, only two were used by more than two respondents, viz.

Not surprisingly, there is a correlation between the servers used and the file formats in use see Fig. The questions about the formats used were asked to all respondents, not only those with streaming servers, so the differences in numbers between servers and corresponding servers are not inconsistent.

The respondents whose organisations run their own streaming servers were also asked whether they have deployed a content delivery network or replicate content between servers. Eight respondents an- swered yes to this question, and of those eight, all but one said they were interested in joining a larger content delivery network, but only four were willing to let their own content delivery network be used for distributing events from other organisations.

Thus, we may conclude that there is a big interest in participating in a larger content delivery network.

Unfortunately the questionnaire was designed in such a manner that only those who already have a CDN were asked whether they would be interested in joining a larger CDN. One might expect that precisely those who do not have one, but are planning to deploy one would be the ones most interested in participating in an already-existing CDN.

Only seventeen percent of the respondents have ever reached the maximum of their concurrent stream license, so there should be ample server power distributed among the respondents to the questionnaire to be used in a common CDN. When asked what media player software was used on computers in their organisation, 39 respondents said they used Windows Media Player, 32 respondents said they used RealPlayer, and 28 respondents said they used QuickTime Player.

The types of streaming formats used. The distribution of answers to this question is shown in Fig. This did not indicate that a single other player was popular among the respondents, but rather that a number of other players were preferred by those respondents.

The respondents who answered yes to at least one of these questions were asked further questions about their use of metadata. Report on Video-on-Demand Metadata and Portals [3]. The resulting overlay network has been named the Open Content Delivery Network, or OpenCDN, in short, and as such, it will be indicated in the following.

A classical solution to this problem has been indicated in the use of multicast distribution of media; unfortunately, multicast routing is not ubiquitously deployed, and although well supported in backbone routers, it is not in the periphery.

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Moreover, major ISPs do not establish multicast peering agreements in their exchange points, preventing to their subscribers multicast content reception.

A viable solution to scalable live streaming is the deployment of an application-level distribution tree, building an overlay network whose nodes are application-level agents, which act as streaming clients on one side, and as streaming servers on the other, and split the incoming stream for each of the connected clients.

As this architecture resembles that of a distributed web cache, the term surrogate, or relay, is used instead. Many vendors in the streaming market arena [4, 5, 7, 6, 8] offer CDN architecture solutions, but generally these do not interoperate, and are tied to proprietary pro- tocols and products.

writing a tf broadcaster pro

On the contrary, wide deployment of an Internet based live streaming infrastructure, dictates ease-of-placement of surrogates by operators wishing to support the service; an Open Source CDN is thus required. OpenCDN nodes wrap streaming server devices from different vendors [7, 8, 9] in a control layer, allowing remote control of the device independently of its technology.I am trying to get pose of the camera and set it with respect to the world frame.

I want to get the frame_id from msg, so that I can set multiple cameras with respect to world frame dynamically. In the case of Writing a tf broadcaster the subscribers callback takes in turtlesim/Pose messages (on the //pose topic) and broadcasts them as TF frames. In the case of Writing a tf listener a listener is created to -- at 10 Hz -- lookup the current relative poses of the two simulated turtles.

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