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‎.github/PULL_REQUEST_TEMPLATE.md‎

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*Issue #, if available:*
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*Description of changes:*
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By submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 license.

‎.travis.yml‎

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install:
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- git clone https://github.com/ros-industrial/industrial_ci.git .ros_ci
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script:
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- .ros_ci/travis.sh

‎README.md‎

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# h264_video_encoder
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## Overview
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This package provides a ROS Node that will encode a stream of images into an H264 video stream.
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**Keywords**: ROS, AWS, Kinesis
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### License
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The source code is released under [LGPL 2.1]. However, this package uses `h264_encoder_core` which incorporates several different encoding components which may further restrict the license. By default, x264 is used for software encoding, thereby applying GPL to all of h264_video_encoder.
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**Author**: AWS RoboMaker<br/>
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**Affiliation**: [Amazon Web Services (AWS)]<br/>
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**Maintainer**: AWS RoboMaker, [email protected]
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### Supported ROS Distributions
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- Kinetic
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- Lunar
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- Melodic
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## Installation
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### Building from Source
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Create a ROS workspace and a source directory
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mkdir -p ~/ros-workspace/src
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To build from source, clone the latest version from master branch and compile the package.
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- Clone the package into the source directory
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cd ~/ros-workspace/src
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git clone https://github.com/aws/aws-ros-utils-common.git
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git clone https://github.com/aws/aws-ros-utils-ros1.git
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git clone https://github.com/aws/aws-ros-kinesisvideo-encoder-common.git
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git clone https://github.com/aws/aws-ros-kinesisvideo-encoder-ros1.git
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- Install dependencies
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cd ~/ros-workspace && sudo apt-get update
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rosdep install --from-paths src --ignore-src -r -y
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- Build the packages
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cd ~/ros-workspace && colcon build
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- Configure ROS library Path
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source ~/ros-workspace/install/setup.bash
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- Build and run the unit tests
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colcon build --packages-select h264_video_encoder --cmake-target tests
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colcon test --packages-select h264_video_encoder h264_encoder core && colcon test-results --all
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## Launch Files
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A launch file called `h264_video_encoder.launch` is included in this package. The launch file uses the following arguments:
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| Arg Name | Description |
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| --------- | ------------ |
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| node_name | (optional) The name the H264 encoder node should be launched with. If not provided, the node name will default to `h264_video_encoder` |
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| config_file | (optional) A path to a rosparam config file. |
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An example launch file called `sample_application.launch` is included in this project that gives an example of how you can include this node in your project and provide it with arguments.
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## Usage
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### Running the node
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To launch the H264 encoder node, you can run the following command:
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roslaunch h264_video_encoder sample_application.launch
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## Configuration File and Parameters
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An example configuration file called `sample_configuration.yaml` is provided for running the H264 encoder node on a Raspberry Pi based system.
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When the parameters are absent in the ROS parameter server, default values are used, thus all parameters are optional. See table below for details.
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| Parameter Name | Description | Type |
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| ------------- | -----------------------------------------------------------| ------------- |
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| queue_size | (optional) The maximum number of incoming and outgoing messages to be queued towards the subscribed and publishing topics. | integer |
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| output_width | (optional) The desired width (in pixels) of each frame in the encoded video output. | integer |
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| output_height | (optional) The desired height (in pixels) of each frame in the encoded video output. | integer |
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| fps_numerator | (optional) The desired frames per second (the numerator portion when expressing FPS as a rational number) for the encoded video output. | integer |
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| fps_denominator | (optional) The desired frames per second (the denominator portion when expressing FPS as a rational number) for the encoded video output. | integer |
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| bitrate | (optional) The desired bitrate (in bits per second) of the encoded video output. | integer |
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## Node Details
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#### Published Topics
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| Topic Name | Message Type | Description |
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| ---------- | ------------ | ----------- |
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| *Configurable* (default="video/encoded") | kinesis_video_msgs/KinesisVideoFrame | The node will publish to a topic of a given name. Each message being published contains a chunk of the video stream, usually per video frame. |
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#### Subscribed Topics
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| Topic Name | Message Type | Description |
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| ---------- | ------------ | ----------- |
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| *Configurable* (default="/raspicam_node/image") | sensor_msgs/Image | The node will subscribe to a topic of a given name. The data is expected to be a stream of images from a source (such as a Raspberry Pi camera). |
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## Bugs & Feature Requests
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Please contact the team directly if you would like to request a feature.
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Please report bugs in [Issue Tracker].
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[Amazon Web Services (AWS)]: https://aws.amazon.com/
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[LGPL 2.1]: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
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[Issue Tracker]: TODO
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[ROS]: http://www.ros.org

‎h264_video_encoder/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8)
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project(h264_video_encoder)
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add_compile_options(-std=c++11)
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find_package(aws_common REQUIRED)
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find_package(catkin REQUIRED COMPONENTS
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h264_encoder_core
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aws_ros1_common
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image_transport
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message_generation
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sensor_msgs
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kinesis_video_msgs)
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catkin_package(CATKIN_DEPENDS
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aws_ros1_common
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image_transport
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message_runtime)
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#############
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## Compile ##
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#############
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set(h264_video_encoder_SRCS
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src/h264_video_encoder.cpp
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)
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set(h264_video_encoder_INCS
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include
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${aws_common_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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)
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set(h264_video_encoder_LIBS
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${catkin_LIBRARIES}
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aws_common
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)
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# add the publisher example
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add_executable(${PROJECT_NAME} src/main.cpp ${h264_video_encoder_SRCS})
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add_library(${PROJECT_NAME}_lib STATIC ${h264_video_encoder_SRCS})
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target_include_directories(${PROJECT_NAME} PRIVATE ${h264_video_encoder_INCS})
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target_include_directories(${PROJECT_NAME}_lib PUBLIC ${h264_video_encoder_INCS})
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target_link_libraries(${PROJECT_NAME} ${h264_video_encoder_LIBS})
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target_link_libraries(${PROJECT_NAME}_lib ${h264_video_encoder_LIBS})
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add_dependencies(${PROJECT_NAME}
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${catkin_EXPORTED_TARGETS}
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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)
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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}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
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install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
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#############
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## Tests ##
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#############
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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add_rostest_gtest(test_h264_video_encoder
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test/test_h264_video_encoder.test
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test/h264_video_encoder_test.cpp)
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target_include_directories(test_h264_video_encoder PRIVATE ${h264_video_encoder_INCS})
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target_link_libraries(test_h264_video_encoder ${PROJECT_NAME}_lib)
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endif()

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