I've been trying to get a good remote viewer app to use a web cam in conjunction with either a control panel or a joy stick to control the robot remote.

I have searched high and low for a low latency video streaming system. I could not find one. Everything I tried from gstreamer to to ffmpeg and others, all introduced a latency I could not afford. I ended up having to write my own.

Drawing code from a V4L2 example and an ancient web cam project, I was able to create a low latency system with multiple threads to allow reading from the camera, converting to jpeg, and serving to the web server in parallel. Its not rocket science, but seriously, I could simply not believe I couldn't find anything.