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Fix build for ROS2 Foxy #111

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merged 2 commits into from
May 17, 2021
Merged

Fix build for ROS2 Foxy #111

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9569548
Fix build for ROS2 Foxy
DomenicP Nov 18, 2020
4dc8df5
Switch incoming CompressedImage msgs to use RCL_ROS_TIME
DomenicP Dec 1, 2020
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4 changes: 2 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -66,8 +66,6 @@ target_link_libraries(${PROJECT_NAME}
${swscale_LIBRARIES}
)

ament_package()

#############
## Install ##
#############
Expand All @@ -81,3 +79,5 @@ install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
)

ament_package()
2 changes: 1 addition & 1 deletion include/web_video_server/h264_streamer.h
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@@ -1,7 +1,7 @@
#ifndef H264_STREAMERS_H_
#define H264_STREAMERS_H_

#include <image_transport/image_transport.h>
#include <image_transport/image_transport.hpp>
#include "web_video_server/libav_streamer.h"
#include "async_web_server_cpp/http_request.hpp"
#include "async_web_server_cpp/http_connection.hpp"
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4 changes: 2 additions & 2 deletions include/web_video_server/image_streamer.h
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Expand Up @@ -2,8 +2,8 @@
#define IMAGE_STREAMER_H_

#include <rclcpp/rclcpp.hpp>
#include <image_transport/image_transport.h>
#include <image_transport/transport_hints.h>
#include <image_transport/image_transport.hpp>
#include <image_transport/transport_hints.hpp>
#include <opencv2/opencv.hpp>
#include "async_web_server_cpp/http_server.hpp"
#include "async_web_server_cpp/http_request.hpp"
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2 changes: 1 addition & 1 deletion include/web_video_server/jpeg_streamers.h
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@@ -1,7 +1,7 @@
#ifndef JPEG_STREAMERS_H_
#define JPEG_STREAMERS_H_

#include <image_transport/image_transport.h>
#include <image_transport/image_transport.hpp>
#include "web_video_server/image_streamer.h"
#include "async_web_server_cpp/http_request.hpp"
#include "async_web_server_cpp/http_connection.hpp"
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2 changes: 1 addition & 1 deletion include/web_video_server/libav_streamer.h
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@@ -1,7 +1,7 @@
#ifndef LIBAV_STREAMERS_H_
#define LIBAV_STREAMERS_H_

#include <image_transport/image_transport.h>
#include <image_transport/image_transport.hpp>
#include "web_video_server/image_streamer.h"
#include "async_web_server_cpp/http_request.hpp"
#include "async_web_server_cpp/http_connection.hpp"
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2 changes: 1 addition & 1 deletion include/web_video_server/png_streamers.h
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@@ -1,7 +1,7 @@
#ifndef PNG_STREAMERS_H_
#define PNG_STREAMERS_H_

#include <image_transport/image_transport.h>
#include <image_transport/image_transport.hpp>
#include "web_video_server/image_streamer.h"
#include "async_web_server_cpp/http_request.hpp"
#include "async_web_server_cpp/http_connection.hpp"
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2 changes: 1 addition & 1 deletion include/web_video_server/vp8_streamer.h
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Expand Up @@ -37,7 +37,7 @@
#ifndef VP8_STREAMERS_H_
#define VP8_STREAMERS_H_

#include <image_transport/image_transport.h>
#include <image_transport/image_transport.hpp>
#include "web_video_server/libav_streamer.h"
#include "async_web_server_cpp/http_request.hpp"
#include "async_web_server_cpp/http_connection.hpp"
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2 changes: 1 addition & 1 deletion include/web_video_server/vp9_streamer.h
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@@ -1,7 +1,7 @@
#ifndef VP9_STREAMERS_H_
#define VP9_STREAMERS_H_

#include <image_transport/image_transport.h>
#include <image_transport/image_transport.hpp>
#include "web_video_server/libav_streamer.h"
#include "async_web_server_cpp/http_request.hpp"
#include "async_web_server_cpp/http_connection.hpp"
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4 changes: 4 additions & 0 deletions package.xml
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Expand Up @@ -28,4 +28,8 @@
<exec_depend>async_web_server_cpp</exec_depend>
<exec_depend>ffmpeg</exec_depend>
<exec_depend>sensor_msgs</exec_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
4 changes: 2 additions & 2 deletions src/jpeg_streamers.cpp
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Expand Up @@ -21,7 +21,7 @@ MjpegStreamer::~MjpegStreamer()
void MjpegStreamer::sendImage(const cv::Mat &img, const rclcpp::Time &time)
{
std::vector<int> encode_params;
encode_params.push_back(CV_IMWRITE_JPEG_QUALITY);
encode_params.push_back(cv::IMWRITE_JPEG_QUALITY);
encode_params.push_back(quality_);

std::vector<uchar> encoded_buffer;
Expand Down Expand Up @@ -63,7 +63,7 @@ JpegSnapshotStreamer::~JpegSnapshotStreamer()
void JpegSnapshotStreamer::sendImage(const cv::Mat &img, const rclcpp::Time &time)
{
std::vector<int> encode_params;
encode_params.push_back(CV_IMWRITE_JPEG_QUALITY);
encode_params.push_back(cv::IMWRITE_JPEG_QUALITY);
encode_params.push_back(quality_);

std::vector<uchar> encoded_buffer;
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4 changes: 2 additions & 2 deletions src/png_streamers.cpp
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Expand Up @@ -21,7 +21,7 @@ PngStreamer::~PngStreamer()
void PngStreamer::sendImage(const cv::Mat &img, const rclcpp::Time &time)
{
std::vector<int> encode_params;
encode_params.push_back(CV_IMWRITE_PNG_COMPRESSION);
encode_params.push_back(cv::IMWRITE_PNG_COMPRESSION);
encode_params.push_back(quality_);

std::vector<uchar> encoded_buffer;
Expand Down Expand Up @@ -63,7 +63,7 @@ PngSnapshotStreamer::~PngSnapshotStreamer()
void PngSnapshotStreamer::sendImage(const cv::Mat &img, const rclcpp::Time &time)
{
std::vector<int> encode_params;
encode_params.push_back(CV_IMWRITE_PNG_COMPRESSION);
encode_params.push_back(cv::IMWRITE_PNG_COMPRESSION);
encode_params.push_back(quality_);

std::vector<uchar> encoded_buffer;
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4 changes: 2 additions & 2 deletions src/ros_compressed_streamer.cpp
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Expand Up @@ -19,7 +19,7 @@ RosCompressedStreamer::~RosCompressedStreamer()
void RosCompressedStreamer::start() {
std::string compressed_topic = topic_ + "/compressed";
image_sub_ = nh_->create_subscription<sensor_msgs::msg::CompressedImage>(
compressed_topic, std::bind(&RosCompressedStreamer::imageCallback, this, std::placeholders::_1), 1);
compressed_topic, 1, std::bind(&RosCompressedStreamer::imageCallback, this, std::placeholders::_1));
}

void RosCompressedStreamer::restreamFrame(double max_age)
Expand Down Expand Up @@ -77,7 +77,7 @@ void RosCompressedStreamer::sendImage(const sensor_msgs::msg::CompressedImage::C
void RosCompressedStreamer::imageCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr msg) {
boost::mutex::scoped_lock lock(send_mutex_); // protects last_msg and last_frame
last_msg = msg;
last_frame = rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec);
last_frame = rclcpp::Time(msg->header.stamp);
sendImage(last_msg, last_frame);
}

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6 changes: 3 additions & 3 deletions src/web_video_server.cpp
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Expand Up @@ -135,7 +135,7 @@ void WebVideoServer::spin()
{
server_->run();
RCLCPP_INFO(nh_->get_logger(), "Waiting For connections on %s:%d", address_.c_str(), port_);
rclcpp::executors::MultiThreadedExecutor spinner(rclcpp::executor::create_default_executor_arguments(), ros_threads_);
rclcpp::executors::MultiThreadedExecutor spinner(rclcpp::ExecutorOptions(), ros_threads_);
spinner.add_node(nh_);
if ( publish_rate_ > 0 ) {
nh_->create_wall_timer(1s / publish_rate_, [this](){restreamFrames(1.0 / publish_rate_);});
Expand Down Expand Up @@ -298,11 +298,11 @@ bool WebVideoServer::handle_list_streams(const async_web_server_cpp::HttpRequest
auto & topic_type = topic_and_types.second[0]; // explicitly take the first
// TODO debugging
fprintf(stderr, "topic_type: %s\n", topic_type.c_str());
if (topic_type == "sensor_msgs/Image")
if (topic_type == "sensor_msgs/msg/Image")
{
image_topics.push_back(topic_name);
}
else if (topic_type == "sensor_msgs/CameraInfo")
else if (topic_type == "sensor_msgs/msg/CameraInfo")
{
camera_info_topics.push_back(topic_name);
}
Expand Down