How to perform vaapih265enc on V4L2 cam and publish on ROS network?

[jeyp4]

Hi
I have been using following code to encode my camera stream into mp4 file.

gst-launch-1.0 v4l2src device=/dev/video0 num-buffers=50 ! videoconvert !
'video/x-raw,format=(string)NV12,width=1280,height=720,framerate=(fraction)30/1'
! queue ! vaapih265enc ! h265parse ! matroskamux ! filesink sync=false
location=camera-h265.mp4


But I couldn't able to figure out the best way to get encoded bits of each
frame separately. I need encoded bits, so that I can publish it on ROS
network and the decode it on client side.

Later on at client side, I also have to develop a function to decode the
stream.

Can somewhere shed some light on probable solution of this problem.
Additional notes: I need time-stamp to measure delay. And, I have to perform
some opencv operations also @client. Major intention is perform encoding as
soon as fresh V4L2 image is available (minimum latency).



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