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A few thoughts:

Perhaps the host machine (on the robot) can use ROS to pipe video frames into the mplayer/mencoder application (running locally), which you can then use to stream the video to the gateway/internet. You can then view the streamed media from the Windows client system at the IP address defined by mplayer/mencoder and the gateway.

Alternatively, maybe run a Linux VM (wherein ROS is installed) on the Windows client system?

A few couple thoughts:

Perhaps the host machine (on the robot) can use ROS to pipe video frames into the mplayer/mencoder application (running locally), which you can then use to stream the video to the gateway/internet. You can then view the streamed media from the Windows client system at the IP address defined by mplayer/mencoder and the gateway.

Alternatively, maybe run a Linux VM (wherein ROS is installed) on the Windows client system?