Merge pull request #136 from aws-deepracer-community/build-fix

Adding H264 Encoder to Codebase

bundle/h264_video_encoder/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+project(h264_video_encoder)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+set(CMAKE_CXX_STANDARD 11)
+
+find_package(catkin REQUIRED COMPONENTS
+  h264_encoder_core
+  aws_common
+  aws_ros1_common
+  image_transport
+  message_generation
+  sensor_msgs
+  kinesis_video_msgs
+)
+
+catkin_package(CATKIN_DEPENDS
+  aws_ros1_common
+  image_transport
+  message_runtime
+)
+
+
+#############
+## Compile ##
+#############
+
+set(h264_video_encoder_SRCS
+  src/h264_video_encoder.cpp
+)
+set(h264_video_encoder_INCS
+  include
+  ${aws_common_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+set(h264_video_encoder_LIBS
+  ${catkin_LIBRARIES}
+  aws_common
+)
+
+# add the publisher example
+add_executable(${PROJECT_NAME} src/main.cpp ${h264_video_encoder_SRCS})
+add_library(${PROJECT_NAME}_lib STATIC ${h264_video_encoder_SRCS})
+
+target_include_directories(${PROJECT_NAME} PRIVATE ${h264_video_encoder_INCS})
+target_include_directories(${PROJECT_NAME}_lib PUBLIC ${h264_video_encoder_INCS})
+
+target_link_libraries(${PROJECT_NAME} ${h264_video_encoder_LIBS})
+target_link_libraries(${PROJECT_NAME}_lib ${h264_video_encoder_LIBS})
+
+add_dependencies(${PROJECT_NAME}
+  ${catkin_EXPORTED_TARGETS}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+)
+
+
+#############
+## 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}
+)
+install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+
+
+#############
+## Tests ##
+#############
+
+## Add gtest based cpp test target and link libraries
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  find_package(GMock QUIET)
+  if(GMOCK_FOUND)
+    add_rostest_gmock(test_h264_video_encoder
+      test/test_h264_video_encoder.test
+      test/h264_video_encoder_test.cpp
+    )
+    target_link_libraries(test_h264_video_encoder
+      ${PROJECT_NAME}_lib
+      ${catkin_LIBRARIES}
+      ${GMOCK_BOTH_LIBRARIES}
+    )
+  else()
+    include_directories(/usr/include/gmock /usr/src/gmock)
+    add_library(${PROJECT_NAME}_libgmock SHARED /usr/src/gmock/src/gmock-all.cc)
+
+    add_rostest_gtest(test_h264_video_encoder
+      test/test_h264_video_encoder.test
+      test/h264_video_encoder_test.cpp
+    )
+    target_link_libraries(test_h264_video_encoder
+      ${PROJECT_NAME}_lib
+      ${catkin_LIBRARIES}
+      ${PROJECT_NAME}_libgmock
+    )
+  endif()
+endif()

bundle/h264_video_encoder/NOTICE.txt

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+Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+
+This product includes software developed by
+Amazon Technologies, Inc (http://www.amazon.com/).

bundle/h264_video_encoder/config/sample_configuration.yaml

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+# This sample YAML config file is catered towards running the H264 Encoder Node on a Raspberry Pi based system
+
+# The name of the topic to which the H264 encoder node should subscribe to obtain the feed desired to be encoded
+# The topic must be a sensor_msgs/Image message
+subscription_topic: "/raspicam_node/image"
+
+# The name of the topic to which H264 encoder node should publish the encoded video stream
+# The topic will be a kinesis_video_msgs/KinesisVideoFrame message
+publication_topic: "/video/encoded"
+
+# The size of the subscribed and publishing message queues (default: 100)
+# queue_size: 100
+
+# The desired output width of the encoded video stream (default: width of the input image stream)
+# output_width:
+
+# The desired output height of the encoded video stream (default: height of the input image stream)
+# output_height:
+
+# The numerator when expressing the frame rate as a rational number
+fps_numerator: 30
+
+# The denominator when expressing the frame rate as a rational number (default: 1)
+fps_denominator: 1
+
+# The target bit rate in bits per second of the output video stream
+bitrate: 2048000

bundle/h264_video_encoder/launch/h264_video_encoder.launch

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+<!--   
+    This is an example launch file to use when you want to launch a H264 Video Encoder node
+
+    @param node_name (optional) If provided, the value will be set as the name of the node when it is launched.
+        Otherwise, the default value is 'h264_video_encoder'
+    @param config_file (optional) If provided, rosparam will attempt to load the file into the private namespace
+        of the node.
+-->
+
+<launch>
+    <!-- If a node_name argument is provided by the caller then we will set the node's name to that value -->
+    <arg name="node_name" default="h264_video_encoder" />
+    <!-- If a config file argument is provided by the caller then we will load it into the node's namespace -->
+    <arg name="config_file" default="" doc="Path to config file. All configuration settings will be loaded into node's namespace." />
+    <!-- The output argument sets the node's stdout/stderr location. Set to 'screen' to see this node's output in the terminal. -->
+    <arg name="output" default="log" doc="The stdout/stderr location for this node. Set to 'screen' to see this node's output in the terminal." />
+    <!-- The image transport used by the video encoder. This can be 'raw' or 'compressed' -->
+    <arg name="image_transport" default="compressed" doc="The image transport used by this video encoder node. This can be 'raw' or 'compressed'." />
+
+    <node name="$(arg node_name)" pkg="h264_video_encoder" type="h264_video_encoder" output="$(arg output)">
+        <!-- If the caller specified a config file then load it here. -->
+        <rosparam if="$(eval config_file!='')" command="load" file="$(arg config_file)"/>
+
+        <!-- Name of image transport to use when subscribing to a sensor message topic -->
+        <param name="image_transport" value="$(arg image_transport)"/>
+    </node>
+</launch>

bundle/h264_video_encoder/launch/sample_application.launch

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+<!-- This is an example launch file for how a ROS application could use a h264_video_encoder -->
+
+<launch>
+    <!-- Custom Nodes would be launched here -->
+
+    <arg name="config_file" default="$(find h264_video_encoder)/config/sample_configuration.yaml"/>
+
+    <include file="$(find h264_video_encoder)/launch/h264_video_encoder.launch" >
+        <!-- The configuration can either be passed in using the "config_file" parameter or by using a rosparam tag
+                to load the config into the parameter server -->
+        <arg name="config_file" value="$(arg config_file)"/>
+    </include>
+</launch>

bundle/h264_video_encoder/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>h264_video_encoder</name>
+  <version>1.1.4</version>
+  <description>ROS1 H264 encoder node</description>
+  <url>http://wiki.ros.org/h264_video_encoder</url>
+
+  <author email="ros-contributions@amazon.com">AWS RoboMaker</author>
+  <maintainer email="ros-contributions@amazon.com">AWS RoboMaker</maintainer>
+
+  <license>LGPLv2.1</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>aws_ros1_common</build_depend>
+  <build_depend>h264_encoder_core</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>kinesis_video_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+
+  <exec_depend>aws_ros1_common</exec_depend>
+  <exec_depend>h264_encoder_core</exec_depend>
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>image_transport_plugins</exec_depend>
+  <exec_depend>kinesis_video_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+
+  <test_depend>google-mock</test_depend>
+  <test_depend>gtest</test_depend>
+  <test_depend>rostest</test_depend>
+</package>