Control the resolution going to the remote operator

[mjsobrep]

Currently the WebRTC feeds are really really heavy. We have the resolution set going from the remote pc to the robot, but not the other way around. The remote operator only really needs 400x??? but is getting 1920x1080. We need a way to fix that.

• Could potentially have a setting in the website javascript that handles this, but I don't think so
• Maybe there is something in the webrtc ros code that could handle this. Something is happening here but I can't figure out what.
• Worst case we could resize the images before they make it to the webrtc ros server, create new nodes with something like /upperrealsense/small that have the desired size and let the server work off of that.

[mjsobrep]

I think that the AdaptFrame call gets the target roi and frame size. The changes are then implemented a few lines below: https://github.com/RobotWebTools/webrtc_ros/blob/77a0db1551d6f0e96cc9e69bc1982107d99336c3/webrtc_ros/src/ros_video_capturer.cpp#L86

[mjsobrep]

I put up an issue for this on the parent repo

[mjsobrep]

I used a technique where a separate node makes them smaller: 3518889 This still isn't great. If we can get the #13 working, then I think this would be satisfactory

[mjsobrep]

Ok, I think we have this working. I want to throttle the frame rate to 15 fps though.

[mjsobrep]

I also want to throttle the frame rate of the remote operator being captured by webrtc

[mjsobrep]

closed in #54