Jetson Xavier NX → Host PC Video Streaming Setup (via Wireless Bridge)

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🧩 Hardware Setup

1. Camera Connection

• Connect your USB camera (Logitech, Osmo Action) to the Jetson Xavier NX using a standard USB-A to USB cable.
  • ✅ Plug the USB cable into one of the USB 3.0 (blue) ports of the Jetson for better bandwidth.
  • If using a USB-C camera (like DJI Osmo Action 3), use a USB-C to USB-A adapter.

2. Optional PC Receiver

• Ensure the Jetson and PC are connected to the same local network (Wi-Fi or Ethernet).
• For lower latency and better throughput, wired Ethernet is preferred.

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📡 Network Configuration

Device	IP Address
Host PC	192.168.1.100
UBNT LAP-120 (AP)	192.168.1.101
AirMax Bullet AC	192.168.1.102
Jetson Xavier NX	192.168.1.103

• Jetson Xavier NX is connected to the AirMax Bullet AC (station mode).
• Host PC is connected to the UBNT LAP-120 (access point mode).
• These two devices communicate wirelessly over the bridge.

🔌 Physical Wiring

Will be added..

🎥 Video Streaming Setup (RAW)

sudo apt update
sudo apt install v4l-utils

To list all connected video devices: bash v4l2-ctl --list-devices Usually your camera will appear as /dev/video0 or /dev/video1. To test the camera locally:

gst-launch-1.0 v4l2src device=/dev/video0 ! "image/jpeg,width=640,height=480,framerate=30/1" ! jpegdec ! autovideosink

Tp check supported formats and frame sizes:

v4l2-ctl --device=/dev/video0 --list-formats-ext

USB Webcam

Captures video from a USB webcam and streams over UDP in H.264 format:

On Jetson Xavier NX (192.168.1.103)

gst-launch-1.0 v4l2src device=/dev/video0 ! 'image/jpeg,width=640,height=480,framerate=30/1' ! jpegdec ! videoconvert ! x264enc tune=zerolatency bitrate=500 speed-preset=superfast ! rtph264pay ! udpsink host=192.168.1.100 port=5000

On Host PC (192.168.1.100)

gst-launch-1.0 -v udpsrc port=5000 caps="application/x-rtp, media=video, encoding-name=H264" ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink 

DJI Osmo Action Cam

Captures video from DJI Cam and streams over UDP in H.264 format:

On Jetson Xavier NX (192.168.1.103)

gst-launch-1.0 v4l2src device=/dev/video0 ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
jpegdec ! videoconvert ! x264enc tune=zerolatency bitrate=1000 speed-preset=superfast ! \
rtph264pay ! udpsink host=192.168.1.100 port=5000

On Host PC (192.168.1.100)

gst-launch-1.0 -v udpsrc port=5000 caps="application/x-rtp, media=video, encoding-name=H264" ! \
rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=false

Optimization Tip (Skip JPEG decode & H.264 re-encode)

Since your camera already supports H.264, you can avoid decoding MJPEG and re-encoding to H.264 — this reduces CPU usage and latency.

Try this zero-copy pipeline (on Jetson):

gst-launch-1.0 v4l2src device=/dev/video0 ! \
'video/x-h264, width=1280, height=720, framerate=30/1' ! \
h264parse ! rtph264pay config-interval=1 pt=96 ! \
udpsink host=192.168.1.100 port=5000

This directly streams the H.264 from the webcam.

Receiver remains the same.

opencv_streaming_test.py

Run the opencv_streaming_test.py and then run this script in your HOST PC:

gst-launch-1.0 -v udpsrc port=5000 caps="application/x-rtp, media=video, encoding-name=H264, payload=96" ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=false

Servo Communication (Releasing Smoke Bomb)

ssh [email protected] "source ~/miniforge3/bin/activate base && python /home/cevheri/arduino_writer.py"

Running Program

ssh [email protected]
cd Downloads/cevh
python cevheri.py