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Fix build for ROS2 Foxy #111
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Here's an example of the deprecation error for libavcodec:
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Pushed an additional commit to fix a bug that was causing the following error message in the console output:
This exception was being thrown because the default clock type for There is an additional |
Thank you for doing this PR! I'm in no position to approve it, but I am using it for my project. I am able to see an image generated with cam2image, like so: But I'm not able to see this image when the QoS (quality of service) parameter is "Best effort", which is the type of video coming out of Gazebo when running foxy: Do you know if there is a way for web_video_server to support a "best effort" QoS parameter? |
@pianosnake That's a good question. I recently ran into some problems with ROS2 QoS myself. According to the first table under https://index.ros.org/doc/ros2/Concepts/About-Quality-of-Service-Settings/#qos-compatibilities, a pub/sub connection will fail if the publisher uses the Best Effort QoS policy but the subscriber uses the Reliable QoS policy. Here's an example from the RosCompressedStreamer where the subscription to the regular ROS image topic is made: Instead of specifying a full QoS profile, it looks like just a queue depth of 1 is specified. This means that the rmw default QoS values will be used for the other policies, which likely results in a Reliable QoS policy for the subscriber which causes the connection to the Best Effort publisher fail. To fix this, you would have to change the QoS policy to Best Effort for the subscriber in the streamer class that you are using. Perhaps this could be a node parameter that each of the streamer classes could check when initializing their subscribers? |
@rctoris @mitchellwills as maintainers - do you have any input on this PR? It seems that this package does not build on Foxy without it. If you're having trouble evaluating whether a PR works - I might suggest using the https://github.com/ros-tooling/action-ros-ci GitHub Action to build against ROS (1 or 2) - which would automatically evaluate a PR like this. |
@dirk-thomas you might want to comment? |
@jihoonl sorry, I am not involved in the project anymore. |
Um, there is no active maintainer. I merge this to move forward. If anyone wants to become maintainer for ros2 version, please let me know. |
@jihoonl is there some sort of "RobotWebTools working group" that pays attention to projects in this organization? Or, is the governance a little more ad-hoc than that? |
It has become more like ad-hoc these days. As many maintainers have contributed some times and moved to other positions or other works. Even myself, I have been just believing the contributors' PRs without reviewing these days as I don't have any resources(time as well as a machine for testing) to review the new changes. So, I will be happy to grant a maintainership if trustable someone stands up because I believe moving in any direction is better than no change. Would you help us? 😉 |
I might have some bandwidth for helping out with general Working Group style repository management - I think that most of the tools we've built at https://github.com/ros-tooling could help with these projects, and I have found the meeting format useful. For some contributions, I would be able to evaluate general code/contribution quality, though I haven't actively developed any RobotWebTools projects to date - so it would take some time to be familiar with the code functionality. With the above clarifications - yes, I'd be willing to offer some help in maintenance here. To start a conversation about it - I created a Discourse topic here https://discourse.ros.org/t/call-for-interest-robotwebtools-working-group/20451 - maybe that will start some useful discussion. |
Thank you for the great initiation. I hope that the active working group gets formed again by this initiation to revitalize the project to move forward. I am cc-ing @J-Rojas @MatthijsBurgh @Rayman @mvollrath @minggangw @roehling @jspricke who have maintained and contributed RWT in recent. Hello everyone, I am cc-ing you because you may have opinions or ideas for this working group initiation. 😃 |
Fix build for ROS2 Foxy (RobotWebTools#111)
Building on #107 with some additional changes that I needed to get the package to successfully build under Foxy. Not sure on the proper procedure here since the previous PR was never merged, so just opening a second PR for now.
Notes
image_transport.h
toimage_transport.hpp
to fix a deprecation warning.ament_package()
to the end ofCMakeLists.txt
. I believe this solved the issue with not being able toros2 run
aftersource dev_ws/install/setup.bash
as mentioned in ROS2 foxy build fails #105 (comment)CV_IMWRITE_JPEG_QUALITY
andCV_IMWRITE_PNG_COMPRESSION
symbols from OpenCV were not found by the compiler. Switched tocv::IMWRITE_JPEG_QUALITY
andcv::IMWRITE_PNG_COMPRESSION
which should have the same values.rclcpp::executor::create_default_executor_arguments()
torclcpp::ExecutorOptions()
to fix a deprecation warning.One unresolved issue is that there are some deprecation warnings regarding libavcodec. I wasn't familiar enough with that library to attempt fixing them, so I just left them for now. Will post an example of the warnings in a comment below.
Library Versions