Cleanup deps. Add params. Setup mediamts and image2rtsp.

CMakeLists.txt

@@ -12,9 +12,9 @@ install(DIRECTORY
   USE_SOURCE_PERMISSIONS
 )
 
-# Install launch files.
+# Install launch and param files.
 install(DIRECTORY
-  launch
+  launch params
   DESTINATION share/${PROJECT_NAME}/
 )
 

am_i_up/Api.py

@@ -18,7 +18,7 @@ class Api:
         self._facts = facts
 
     async def run(self):
-        ui_share_directory =  get_package_share_directory("am_i_up_ui")
+        ui_share_directory =  get_package_share_directory(self._facts.get_ui_pkg())
         ui_static_directory = ui_share_directory + "/dist/assets"
 
         app = web.Application()
@@ -37,7 +37,7 @@ class Api:
         ])
 
         url = "0.0.0.0"
-        port = 8888
+        port = self._facts.get_listen_port()
         print("Listening on {}:{}".format(url, port))
 
         runner = web.AppRunner(app)
@@ -50,7 +50,7 @@ class Api:
         await runner.cleanup()
 
     async def index(self, request):
-        ui_share_directory =  get_package_share_directory("am_i_up_ui")
+        ui_share_directory =  get_package_share_directory(self._facts.get_ui_pkg())
         ui_index_path = ui_share_directory + "/dist/index.html"
         return web.FileResponse(ui_index_path)
 

am_i_up/Facts.py

@@ -36,6 +36,12 @@ class Facts:
     def get_status(self):
         return self._ros.get_status_string()
 
+    def get_listen_port(self):
+        return self._ros.get_listen_port()
+
+    def get_ui_pkg(self):
+        return self._ros.get_ui_pkg()
+
     def get_uptime(self):
         return time.monotonic() - self._start_time
 

am_i_up/Ros.py

@@ -23,6 +23,9 @@ class Ros:
         self._image_sub = self._node.create_subscription(CompressedImage, "image/compressed", self._image_callback, 1)
         self._navsat_sub = self._node.create_subscription(NavSatFix, "navsatfix", self._navsat_callback, 1)
 
+        self._listen_port = self._node.declare_parameter("listen_port", "8888").value
+        self._ui_pkg = self._node.declare_parameter("ui_pkg", "am_i_up_ui").value
+
         self._status_string = None
         self._lat_long = None
         self._costmap_image = None
@@ -36,6 +39,12 @@ class Ros:
     def get_costmap_image(self):
         return self._costmap_image
 
+    def get_listen_port(self):
+        return self._listen_port
+
+    def get_ui_pkg(self):
+        return self._ui_pkg
+
     async def run(self):
         while rclpy.ok():
             rclpy.spin_once(self._node, timeout_sec=0)

launch/am_i_up.launch.xml

@@ -1,5 +1,16 @@
 <launch>
-  <node pkg="am_i_up" exec="server" name="am_i_up"/>
+  <node pkg="am_i_up" exec="server" name="am_i_up">
+    <param from="$(find-pkg-share am_i_up)/params/am_i_up.yaml"/>
+  </node>
+
   <node pkg="data_simulator" exec="image_publisher" name="image_publisher" />
+  <node pkg="image2rtsp" exec="image2rtsp" name="image2rtsp">
+    <env name="GST_DEBUG" value="3"/>
+    <param from="$(find-pkg-share am_i_up)/params/image2rtsp.yaml"/>
+  </node>
+  <include file="$(find-pkg-share media_mtx_wrapper)/launch/mediamtx.launch.xml">
+    <arg name="config_file_path" value="$(find-pkg-share am_i_up)/params/mediamtx.yaml" />
+  </include>
+
   <node pkg="data_simulator" exec="position_publisher" name="position_publisher" />
 </launch>

package.xml

@@ -10,7 +10,6 @@
 
   <buildtool_depend>ament_cmake_python</buildtool_depend>
   <depend>python3-aiohttp</depend>
-  <depend>python3-jinja2</depend>
   <!-- TODO: Run time dep on ping -->
 
   <exec_depend>rclpy</exec_depend>

params/am_i_up.yaml

@@ -0,0 +1,4 @@
+/**:
+   ros__parameters:
+      ui_pkg: "am_i_up_ui"
+      listen_port: "8000"

params/image2rtsp.yaml

@@ -0,0 +1,7 @@
+/**:
+   ros__parameters:
+      compressed: True
+      topic: "image/compressed"
+      mountpoint: "/image"
+      port: "8559"
+      local_only: True

params/mediamtx.yaml

@@ -0,0 +1,3 @@
+paths:
+  image:
+    source: rtsp://127.0.0.1:8559/image