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dirk-thomasdirk-thomas
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[ROS2] port package to ament_cmake / ROS 2 API (#69)
* switch from catkin to ament_cmake * update code to use ROS 2 API * use ament_cmake_ros * remove Travis for now * set CMAKE_CXX_STANDARD * use API closer to ROS 1 * fix type format match bug in ros2 (#79) * add node to Executor (#80) * using shared_ptr to manage the cleanup_timer (#81) * fix argument mismatch
1 parent 97ac8e4 commit 84b410b

21 files changed

+185
-184
lines changed

‎.travis.yml‎

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This file was deleted.

‎CMakeLists.txt‎

Lines changed: 21 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -1,10 +1,14 @@
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cmake_minimum_required(VERSION 2.8.3)
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cmake_minimum_required(VERSION 3.5)
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project(web_video_server)
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4-
## Find catkin macros and libraries
5-
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
6-
## is used, also find other catkin packages
7-
find_package(catkin REQUIRED COMPONENTS roscpp roslib cv_bridge image_transport async_web_server_cpp sensor_msgs)
4+
find_package(ament_cmake_ros REQUIRED)
5+
6+
find_package(async_web_server_cpp REQUIRED)
7+
find_package(cv_bridge REQUIRED)
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find_package(image_transport REQUIRED)
9+
find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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812
find_package(OpenCV REQUIRED)
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find_package(Boost REQUIRED COMPONENTS thread)
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@@ -14,22 +18,20 @@ pkg_check_modules(avformat libavformat REQUIRED)
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pkg_check_modules(avutil libavutil REQUIRED)
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pkg_check_modules(swscale libswscale REQUIRED)
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21+
if(NOT CMAKE_CXX_STANDARD)
22+
set(CMAKE_CXX_STANDARD 14)
23+
endif()
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###################################################
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## Declare things to be passed to other projects ##
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###################################################
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package()
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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include_directories(include
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${catkin_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${avcodec_INCLUDE_DIRS}
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${avformat_INCLUDE_DIRS}
@@ -49,9 +51,11 @@ add_executable(${PROJECT_NAME}
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src/ros_compressed_streamer.cpp
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src/jpeg_streamers.cpp)
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ament_target_dependencies(${PROJECT_NAME}
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async_web_server_cpp cv_bridge image_transport rclcpp sensor_msgs)
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## Specify libraries to link a library or executable target against
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target_link_libraries(${PROJECT_NAME}
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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${OpenCV_LIBS}
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${avcodec_LIBRARIES}
@@ -60,18 +64,18 @@ target_link_libraries(${PROJECT_NAME}
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${swscale_LIBRARIES}
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)
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ament_package()
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#############
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## Install ##
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#############
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## Mark executables and/or libraries for installation
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
71-
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY include/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include/${PROJECT_NAME}
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FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
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)

‎include/web_video_server/h264_streamer.h‎

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@@ -13,7 +13,7 @@ class H264Streamer : public LibavStreamer
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{
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public:
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H264Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
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ros::NodeHandle& nh);
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rclcpp::Node::SharedPtr nh);
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~H264Streamer();
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protected:
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virtual void initializeEncoder();
@@ -26,7 +26,7 @@ class H264StreamerType : public LibavStreamerType
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H264StreamerType();
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virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
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async_web_server_cpp::HttpConnectionPtr connection,
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ros::NodeHandle& nh);
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rclcpp::Node::SharedPtr nh);
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};
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}

‎include/web_video_server/image_streamer.h‎

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@@ -1,8 +1,9 @@
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#ifndef IMAGE_STREAMER_H_
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#define IMAGE_STREAMER_H_
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4-
#include <ros/ros.h>
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#include <rclcpp/rclcpp.hpp>
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#include <image_transport/image_transport.h>
6+
#include <image_transport/transport_hints.h>
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#include <opencv2/opencv.hpp>
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#include "async_web_server_cpp/http_server.hpp"
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#include "async_web_server_cpp/http_request.hpp"
@@ -15,7 +16,7 @@ class ImageStreamer
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public:
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ImageStreamer(const async_web_server_cpp::HttpRequest &request,
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async_web_server_cpp::HttpConnectionPtr connection,
18-
ros::NodeHandle& nh);
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rclcpp::Node::SharedPtr nh);
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virtual void start() = 0;
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@@ -33,7 +34,7 @@ class ImageStreamer
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protected:
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async_web_server_cpp::HttpConnectionPtr connection_;
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async_web_server_cpp::HttpRequest request_;
36-
ros::NodeHandle nh_;
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rclcpp::Node::SharedPtr nh_;
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bool inactive_;
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image_transport::Subscriber image_sub_;
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std::string topic_;
@@ -44,12 +45,12 @@ class ImageTransportImageStreamer : public ImageStreamer
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{
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public:
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ImageTransportImageStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
47-
ros::NodeHandle& nh);
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rclcpp::Node::SharedPtr nh);
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virtual void start();
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protected:
52-
virtual void sendImage(const cv::Mat &, const ros::Time &time) = 0;
53+
virtual void sendImage(const cv::Mat &, const rclcpp::Time &time) = 0;
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virtual void initialize(const cv::Mat &);
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@@ -62,15 +63,15 @@ class ImageTransportImageStreamer : public ImageStreamer
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image_transport::ImageTransport it_;
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bool initialized_;
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65-
void imageCallback(const sensor_msgs::ImageConstPtr &msg);
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void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr &msg);
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};
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class ImageStreamerType
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{
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public:
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virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
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async_web_server_cpp::HttpConnectionPtr connection,
73-
ros::NodeHandle& nh) = 0;
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rclcpp::Node::SharedPtr nh) = 0;
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virtual std::string create_viewer(const async_web_server_cpp::HttpRequest &request) = 0;
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};

‎include/web_video_server/jpeg_streamers.h‎

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@@ -14,10 +14,10 @@ class MjpegStreamer : public ImageTransportImageStreamer
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{
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public:
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MjpegStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
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ros::NodeHandle& nh);
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rclcpp::Node::SharedPtr nh);
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protected:
20-
virtual void sendImage(const cv::Mat &, const ros::Time &time);
20+
virtual void sendImage(const cv::Mat &, const rclcpp::Time &time);
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private:
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MultipartStream stream_;
@@ -29,18 +29,18 @@ class MjpegStreamerType : public ImageStreamerType
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public:
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boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
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async_web_server_cpp::HttpConnectionPtr connection,
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ros::NodeHandle& nh);
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rclcpp::Node::SharedPtr nh);
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std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
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};
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class JpegSnapshotStreamer : public ImageTransportImageStreamer
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{
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public:
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JpegSnapshotStreamer(const async_web_server_cpp::HttpRequest &request,
40-
async_web_server_cpp::HttpConnectionPtr connection, ros::NodeHandle& nh);
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async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr nh);
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protected:
43-
virtual void sendImage(const cv::Mat &, const ros::Time &time);
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virtual void sendImage(const cv::Mat &, const rclcpp::Time &time);
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private:
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int quality_;

‎include/web_video_server/libav_streamer.h‎

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@@ -25,14 +25,14 @@ class LibavStreamer : public ImageTransportImageStreamer
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{
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public:
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LibavStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
28-
ros::NodeHandle& nh, const std::string &format_name, const std::string &codec_name,
28+
rclcpp::Node::SharedPtr nh, const std::string &format_name, const std::string &codec_name,
2929
const std::string &content_type);
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3131
~LibavStreamer();
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3333
protected:
3434
virtual void initializeEncoder();
35-
virtual void sendImage(const cv::Mat&, const ros::Time& time);
35+
virtual void sendImage(const cv::Mat&, const rclcpp::Time& time);
3636
virtual void initialize(const cv::Mat&);
3737
AVOutputFormat* output_format_;
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AVFormatContext* format_context_;
@@ -45,7 +45,7 @@ class LibavStreamer : public ImageTransportImageStreamer
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private:
4646
AVFrame* frame_;
4747
struct SwsContext* sws_context_;
48-
ros::Time first_image_timestamp_;
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rclcpp::Time first_image_timestamp_;
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boost::mutex encode_mutex_;
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std::string format_name_;
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boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
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async_web_server_cpp::HttpConnectionPtr connection,
69-
ros::NodeHandle& nh);
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rclcpp::Node::SharedPtr nh);
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std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
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‎include/web_video_server/multipart_stream.h‎

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#ifndef MULTIPART_STREAM_H_
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#define MULTIPART_STREAM_H_
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4-
#include <ros/ros.h>
4+
#include <rclcpp/rclcpp.hpp>
55
#include <async_web_server_cpp/http_connection.hpp>
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#include <queue>
@@ -16,10 +16,10 @@ class MultipartStream {
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std::size_t max_queue_size=1);
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void sendInitialHeader();
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void sendPartHeader(const ros::Time &time, const std::string& type, size_t payload_size);
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void sendPartHeader(const rclcpp::Time &time, const std::string& type, size_t payload_size);
2020
void sendPartFooter();
21-
void sendPartAndClear(const ros::Time &time, const std::string& type, std::vector<unsigned char> &data);
22-
void sendPart(const ros::Time &time, const std::string& type, const boost::asio::const_buffer &buffer,
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void sendPartAndClear(const rclcpp::Time &time, const std::string& type, std::vector<unsigned char> &data);
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void sendPart(const rclcpp::Time &time, const std::string& type, const boost::asio::const_buffer &buffer,
2323
async_web_server_cpp::HttpConnection::ResourcePtr resource);
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const std::size_t max_queue_size_;
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async_web_server_cpp::HttpConnectionPtr connection_;
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std::string boundry_;
32-
std::queue<boost::weak_ptr<const void> > pending_footers_;
32+
std::queue<std::weak_ptr<const void> > pending_footers_;
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};
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}

‎include/web_video_server/ros_compressed_streamer.h‎

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#ifndef ROS_COMPRESSED_STREAMERS_H_
22
#define ROS_COMPRESSED_STREAMERS_H_
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4-
#include <sensor_msgs/CompressedImage.h>
4+
#include <sensor_msgs/msg/compressed_image.hpp>
55
#include "web_video_server/image_streamer.h"
66
#include "async_web_server_cpp/http_request.hpp"
77
#include "async_web_server_cpp/http_connection.hpp"
@@ -14,22 +14,22 @@ class RosCompressedStreamer : public ImageStreamer
1414
{
1515
public:
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RosCompressedStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
17-
ros::NodeHandle& nh);
17+
rclcpp::Node::SharedPtr nh);
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virtual void start();
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2020
private:
21-
void imageCallback(const sensor_msgs::CompressedImageConstPtr &msg);
21+
void imageCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr msg);
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MultipartStream stream_;
24-
ros::Subscriber image_sub_;
24+
rclcpp::Subscription<sensor_msgs::msg::CompressedImage>::SharedPtr image_sub_;
2525
};
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2727
class RosCompressedStreamerType : public ImageStreamerType
2828
{
2929
public:
3030
boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
3131
async_web_server_cpp::HttpConnectionPtr connection,
32-
ros::NodeHandle& nh);
32+
rclcpp::Node::SharedPtr nh);
3333
std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
3434
};
3535

‎include/web_video_server/vp8_streamer.h‎

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4949
{
5050
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Vp8Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
52-
ros::NodeHandle& nh);
52+
rclcpp::Node::SharedPtr nh);
5353
~Vp8Streamer();
5454
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5555
virtual void initializeEncoder();
@@ -63,7 +63,7 @@ class Vp8StreamerType : public LibavStreamerType
6363
Vp8StreamerType();
6464
virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
6565
async_web_server_cpp::HttpConnectionPtr connection,
66-
ros::NodeHandle& nh);
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rclcpp::Node::SharedPtr nh);
6767
};
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}

‎include/web_video_server/vp9_streamer.h‎

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@@ -13,7 +13,7 @@ class Vp9Streamer : public LibavStreamer
1313
{
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Vp9Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
16-
ros::NodeHandle& nh);
16+
rclcpp::Node::SharedPtr nh);
1717
~Vp9Streamer();
1818
protected:
1919
virtual void initializeEncoder();
@@ -25,7 +25,7 @@ class Vp9StreamerType : public LibavStreamerType
2525
Vp9StreamerType();
2626
virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
2727
async_web_server_cpp::HttpConnectionPtr connection,
28-
ros::NodeHandle& nh);
28+
rclcpp::Node::SharedPtr nh);
2929
};
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3131
}

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