I would highly recommend dumping the Raspberry Pi and running MJPG-Streamer directly on the RoboRIO using the link below. I installed using offline instructions which can be found in the readme at the root of the repository. You'll also have to SSH in and edit the /etc/default/mjpg-streamer file and then restart to enable streaming of the second camera and change resolution. This is what we had running all of CIR and it worked great. I helped 4156 install this on practice day and I believe 4143 and one other team were running it. No issues at all as far as I know. None of us were using a static IP for anything. Come talk to me on Thursday at Midwest if you're still having issues or just want help getting it set up.
https://github.com/robotpy/roborio-p...amer/README.md