[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
RobotWebTools · Sep 19, 2019 · 84b410b · 84b410b
1 parent 97ac8e4
commit 84b410b
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Showing 21 changed files with 185 additions and 184 deletions.
diff --git a/.travis.yml b/.travis.yml
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,10 +1,14 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(web_video_server)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp roslib cv_bridge image_transport async_web_server_cpp sensor_msgs)
+find_package(ament_cmake_ros REQUIRED)
+
+find_package(async_web_server_cpp REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
 find_package(OpenCV REQUIRED)
 find_package(Boost REQUIRED COMPONENTS thread)
 
@@ -14,22 +18,20 @@ pkg_check_modules(avformat libavformat REQUIRED)
 pkg_check_modules(avutil libavutil REQUIRED)
 pkg_check_modules(swscale libswscale REQUIRED)
 
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
 ###################################################
 ## Declare things to be passed to other projects ##
 ###################################################
 
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package()
-
 ###########
 ## Build ##
 ###########
 
 ## Specify additional locations of header files
 include_directories(include
-  ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
   ${avcodec_INCLUDE_DIRS}
   ${avformat_INCLUDE_DIRS}
@@ -49,9 +51,11 @@ add_executable(${PROJECT_NAME}
   src/ros_compressed_streamer.cpp
   src/jpeg_streamers.cpp)
 
+ament_target_dependencies(${PROJECT_NAME}
+  async_web_server_cpp cv_bridge image_transport rclcpp sensor_msgs)
+
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
-  ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   ${OpenCV_LIBS}
   ${avcodec_LIBRARIES}
@@ -60,18 +64,18 @@ target_link_libraries(${PROJECT_NAME}
   ${swscale_LIBRARIES}
 )
 
+ament_package()
+
 #############
 ## Install ##
 #############
 
 ## Mark executables and/or libraries for installation
 install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  DESTINATION lib/${PROJECT_NAME}
 )
 
-install(DIRECTORY include/
-   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION include/${PROJECT_NAME}
    FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
 )
diff --git a/include/web_video_server/h264_streamer.h b/include/web_video_server/h264_streamer.h
@@ -13,7 +13,7 @@ class H264Streamer : public LibavStreamer
 {
 public:
   H264Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
-              ros::NodeHandle& nh);
+              rclcpp::Node::SharedPtr nh);
   ~H264Streamer();
 protected:
   virtual void initializeEncoder();
@@ -26,7 +26,7 @@ class H264StreamerType : public LibavStreamerType
   H264StreamerType();
   virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
                                                            async_web_server_cpp::HttpConnectionPtr connection,
-                                                           ros::NodeHandle& nh);
+                                                           rclcpp::Node::SharedPtr nh);
 };
 
 }

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

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

diff --git a/include/web_video_server/libav_streamer.h b/include/web_video_server/libav_streamer.h
@@ -25,14 +25,14 @@ class LibavStreamer : public ImageTransportImageStreamer
 {
 public:
   LibavStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-                ros::NodeHandle& nh, const std::string &format_name, const std::string &codec_name,
+                rclcpp::Node::SharedPtr nh, const std::string &format_name, const std::string &codec_name,
                 const std::string &content_type);
 
   ~LibavStreamer();
 
 protected:
   virtual void initializeEncoder();
-  virtual void sendImage(const cv::Mat&, const ros::Time& time);
+  virtual void sendImage(const cv::Mat&, const rclcpp::Time& time);
   virtual void initialize(const cv::Mat&);
   AVOutputFormat* output_format_;
   AVFormatContext* format_context_;
@@ -45,7 +45,7 @@ class LibavStreamer : public ImageTransportImageStreamer
 private:
   AVFrame* frame_;
   struct SwsContext* sws_context_;
-  ros::Time first_image_timestamp_;
+  rclcpp::Time first_image_timestamp_;
   boost::mutex encode_mutex_;
 
   std::string format_name_;
@@ -66,7 +66,7 @@ class LibavStreamerType : public ImageStreamerType
 
   boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
                                                    async_web_server_cpp::HttpConnectionPtr connection,
-                                                   ros::NodeHandle& nh);
+                                                   rclcpp::Node::SharedPtr nh);
 
   std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
 

diff --git a/include/web_video_server/multipart_stream.h b/include/web_video_server/multipart_stream.h
@@ -1,7 +1,7 @@
 #ifndef MULTIPART_STREAM_H_
 #define MULTIPART_STREAM_H_
 
-#include <ros/ros.h>
+#include <rclcpp/rclcpp.hpp>
 #include <async_web_server_cpp/http_connection.hpp>
 
 #include <queue>
@@ -16,10 +16,10 @@ class MultipartStream {
                   std::size_t max_queue_size=1);
 
   void sendInitialHeader();
-  void sendPartHeader(const ros::Time &time, const std::string& type, size_t payload_size);
+  void sendPartHeader(const rclcpp::Time &time, const std::string& type, size_t payload_size);
   void sendPartFooter();
-  void sendPartAndClear(const ros::Time &time, const std::string& type, std::vector<unsigned char> &data);
-  void sendPart(const ros::Time &time, const std::string& type, const boost::asio::const_buffer &buffer,
+  void sendPartAndClear(const rclcpp::Time &time, const std::string& type, std::vector<unsigned char> &data);
+  void sendPart(const rclcpp::Time &time, const std::string& type, const boost::asio::const_buffer &buffer,
 		async_web_server_cpp::HttpConnection::ResourcePtr resource);
 
 private:
@@ -29,7 +29,7 @@ class MultipartStream {
   const std::size_t max_queue_size_;
   async_web_server_cpp::HttpConnectionPtr connection_;
   std::string boundry_;
-  std::queue<boost::weak_ptr<const void> > pending_footers_;
+  std::queue<std::weak_ptr<const void> > pending_footers_;
 };
 
 }

diff --git a/include/web_video_server/ros_compressed_streamer.h b/include/web_video_server/ros_compressed_streamer.h
@@ -1,7 +1,7 @@
 #ifndef ROS_COMPRESSED_STREAMERS_H_
 #define ROS_COMPRESSED_STREAMERS_H_
 
-#include <sensor_msgs/CompressedImage.h>
+#include <sensor_msgs/msg/compressed_image.hpp>
 #include "web_video_server/image_streamer.h"
 #include "async_web_server_cpp/http_request.hpp"
 #include "async_web_server_cpp/http_connection.hpp"
@@ -14,22 +14,22 @@ class RosCompressedStreamer : public ImageStreamer
 {
 public:
   RosCompressedStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-			ros::NodeHandle& nh);
+			rclcpp::Node::SharedPtr nh);
   virtual void start();
 
 private:
-  void imageCallback(const sensor_msgs::CompressedImageConstPtr &msg);
+  void imageCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr msg);
 
   MultipartStream stream_;
-  ros::Subscriber image_sub_;
+  rclcpp::Subscription<sensor_msgs::msg::CompressedImage>::SharedPtr image_sub_;
 };
 
 class RosCompressedStreamerType : public ImageStreamerType
 {
 public:
   boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
                                                    async_web_server_cpp::HttpConnectionPtr connection,
-                                                   ros::NodeHandle& nh);
+                                                   rclcpp::Node::SharedPtr nh);
   std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
 };
 

diff --git a/include/web_video_server/vp8_streamer.h b/include/web_video_server/vp8_streamer.h
@@ -49,7 +49,7 @@ class Vp8Streamer : public LibavStreamer
 {
 public:
   Vp8Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
-              ros::NodeHandle& nh);
+              rclcpp::Node::SharedPtr nh);
   ~Vp8Streamer();
 protected:
   virtual void initializeEncoder();
@@ -63,7 +63,7 @@ class Vp8StreamerType : public LibavStreamerType
   Vp8StreamerType();
   virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
                                                            async_web_server_cpp::HttpConnectionPtr connection,
-                                                           ros::NodeHandle& nh);
+                                                           rclcpp::Node::SharedPtr nh);
 };
 
 }

diff --git a/include/web_video_server/vp9_streamer.h b/include/web_video_server/vp9_streamer.h
@@ -13,7 +13,7 @@ class Vp9Streamer : public LibavStreamer
 {
 public:
   Vp9Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
-              ros::NodeHandle& nh);
+              rclcpp::Node::SharedPtr nh);
   ~Vp9Streamer();
 protected:
   virtual void initializeEncoder();
@@ -25,7 +25,7 @@ class Vp9StreamerType : public LibavStreamerType
   Vp9StreamerType();
   virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
                                                            async_web_server_cpp::HttpConnectionPtr connection,
-                                                           ros::NodeHandle& nh);
+                                                           rclcpp::Node::SharedPtr nh);
 };
 
 }