@ppoirier and @tiffo I don’t know if all the step delineated by @ppoirier will become video tutorials anyway I will be available to provide further details.
Beginning with gstreamer over WiFi part:
I’am using a dedicated router as access point, with only my desktop PC on ethernet and the Raspberry Pi as WiFi client. From my test this configuration gives less latency then that in which the Raspberry Pi is configured as access point and the desktop PC connect via USB-WiFi device.
On The Raspberry Pi I launch this gstreamer pipeline:
gst-launch-1.0 -v rpicamsrc bitrate=10000000 rotation=180 exposure-mode=10 awb-mode=0 awb-gain-red=1 awb-gain-blue=2 iso=800 shutter-speed=10000 contrast=50 ! "image/jpeg,width=640,height=480,framerate=30/1" ! udpsink host=192.168.10.16 port=9000
rotation=180 is due to the way my cam is mounted and the other parameter serves to have fixed value for exposure and gain and high contrast that gives a better marker detection.
On desktop PC gscam ROS node has the following parameter to receive the stream:
<env name=“GSCAM_CONFIG” value=“udpsrc port=9000 ! jpegdec ! videoconvert”/>
This gives me a delay on near 80ms.