Merge pull request #1 from lge-ros2/ros2

Fix build for ROS2 Foxy (RobotWebTools#111)
lge-ros2 · Jul 27, 2021 · 9833dc6 · 9833dc6
2 parents a236135 + 733a7d9
commit 9833dc6
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Showing 11 changed files with 18 additions and 18 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -66,8 +66,6 @@ target_link_libraries(${PROJECT_NAME}
   ${swscale_LIBRARIES}
 )
 
-ament_package()
-
 #############
 ## Install ##
 #############
@@ -82,7 +80,4 @@ install(DIRECTORY include/${PROJECT_NAME}/
    FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
 )
 
-install(
-  DIRECTORY config launch
-  DESTINATION share/${PROJECT_NAME}
-)
+ament_package()
diff --git a/include/web_video_server/h264_streamer.h b/include/web_video_server/h264_streamer.h
@@ -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"

diff --git a/include/web_video_server/image_streamer.h b/include/web_video_server/image_streamer.h
@@ -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"

diff --git a/include/web_video_server/jpeg_streamers.h b/include/web_video_server/jpeg_streamers.h
@@ -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"

diff --git a/include/web_video_server/libav_streamer.h b/include/web_video_server/libav_streamer.h
@@ -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"

diff --git a/include/web_video_server/png_streamers.h b/include/web_video_server/png_streamers.h
@@ -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"

diff --git a/include/web_video_server/vp8_streamer.h b/include/web_video_server/vp8_streamer.h
@@ -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"

diff --git a/include/web_video_server/vp9_streamer.h b/include/web_video_server/vp9_streamer.h
@@ -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"

diff --git a/package.xml b/package.xml
@@ -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>
diff --git a/src/ros_compressed_streamer.cpp b/src/ros_compressed_streamer.cpp
@@ -23,7 +23,7 @@ void RosCompressedStreamer::start() {
   }
 
   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)
@@ -81,7 +81,7 @@ 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);
 }
 

diff --git a/src/web_video_server.cpp b/src/web_video_server.cpp
@@ -138,7 +138,7 @@ 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_);});
@@ -306,8 +306,9 @@ bool WebVideoServer::handle_list_streams(const async_web_server_cpp::HttpRequest
     }
     auto & topic_name = topic_and_types.first;
     auto & topic_type = topic_and_types.second[0];  // explicitly take the first
+
     // TODO debugging
-    // fprintf(stderr, "topic_type: %s\n", topic_type.c_str());
+    fprintf(stderr, "topic_type: %s\n", topic_type.c_str());
     if (topic_type == "sensor_msgs/msg/Image" || topic_type == "sensor_msgs/Image")
     {
       image_topics.push_back(topic_name);