Transmit a ROS Video topic via video stream

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Hi everyone,

I receive a Video stream from my Android device using gcam, process the ros video stream with ar_toolkit and opencv amen want to stream it back.

How can I transfer a ros video topic to a Video stream? Gscam works in one direction only.

Thanks, enjoy the weekend

Poseidonius

Ok, more detailed: I plan to do the following chain:

   1                      2           3            4         5                 6  
Android  -- video --> gstreamer ---> ROS   ---> ROS     ---> ? -- video ---> Android
device      stream     server        gscam      ar_pose           stream    
                                                opencv2

Steps 1 to 4 works fine. I integrate some texts and augmented stuff in the video, but I have no idea how to transfer a ROS video msg into a video stream.

Any suggestions? Best wishes

Poseidonius