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Here are the steps to use crontab to initiate and modify the libcamera-vid RTSP stream on your Raspberry Pi:

1. Open the crontab editor by typing the following command in the terminal:

crontab -e

1. Add a new line to the crontab file to initiate the RTSP stream when the Raspberry Pi boots up.

@reboot /path/to/rtsp-server.sh

Replace the /path/to/rtsp-server.sh with the actual path to the shell script that initiates the RTSP stream.

1. Add another line to the crontab file to modify the RTSP stream at a set interval.

*/5 * * * * /path/to/modify-rtsp-stream.sh

Replace the /path/to/modify-rtsp-stream.sh with the actual path to the shell script that modifies the RTSP stream. In this example, the script is set to run every 5 minutes.

1. Save the crontab file and exit the editor.

Note: You need to create the rtsp-server.sh and modify-rtsp-stream.sh scripts separately and ensure that they have the necessary permissions to run. Also, make sure that the scripts are located in the specified paths.