Add Docker support and enhance logging for image processing

.dockerignore

@@ -0,0 +1,6 @@
+build
+install
+log
+.git
+*.pyc
+__pycache__

.gitignore

@@ -5,3 +5,5 @@ build/
 
 # VSC stuff
 .vscode
+# Local python virtualenv
+.venv/

Dockerfile

@@ -0,0 +1,41 @@
+FROM ros:humble-ros-base AS build
+SHELL ["/bin/bash", "-lc"]
+WORKDIR /ws
+
+# Install OS packages first (cached layer when requirements.txt unchanged)
+COPY apt-requirements.txt /tmp/requirements.txt
+RUN apt-get update \
+  && xargs -a /tmp/requirements.txt apt-get install -y --no-install-recommends \
+  && rm -rf /var/lib/apt/lists/* /tmp/requirements.txt
+
+# Copy package manifest(s) so rosdep can install system deps and this layer caches
+COPY package.xml ./package.xml
+RUN source /opt/ros/humble/setup.bash \
+  && rosdep update || true \
+  && rosdep install -i --from-paths . --rosdistro humble -y || true
+
+# Copy rest of the sources after deps to avoid busting the deps layer on code changes
+COPY . .
+
+# Build with Ninja + ccache for faster incremental builds inside the container
+RUN source /opt/ros/humble/setup.bash \
+  && CCACHE_DIR=/ccache mkdir -p /ccache \
+  && chmod 777 /ccache \
+  && colcon build --parallel-workers $(nproc) \
+    --cmake-args -G Ninja -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+
+FROM ros:humble-ros-base
+WORKDIR /ws
+## Install minimal runtime packages required by the built binaries
+COPY apt-runtime.txt /tmp/apt-runtime.txt
+RUN apt-get update \
+  && xargs -a /tmp/apt-runtime.txt apt-get install -y --no-install-recommends \
+  && rm -rf /var/lib/apt/lists/* /tmp/apt-runtime.txt
+
+COPY --from=build /ws/install /ws/install
+COPY docker-entrypoint.sh /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENV ROS_DISTRO=humble
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["image2rtsp.launch.py"]

apt-requirements.txt

@@ -0,0 +1,18 @@
+python3-colcon-common-extensions
+python3-pip
+git
+build-essential
+cmake
+pkg-config
+libopencv-dev
+python3-opencv
+curl
+python3-rosdep
+python3-rosdistro
+libgstreamer1.0-dev
+libgstreamer-plugins-base1.0-dev
+libgstreamer-plugins-good1.0-dev
+libgstreamer-plugins-bad1.0-dev
+libgstrtspserver-1.0-dev
+ccache
+ninja-build

apt-runtime.txt

@@ -0,0 +1,10 @@
+libgstreamer1.0-0
+gstreamer1.0-plugins-base
+gstreamer1.0-plugins-good
+gstreamer1.0-plugins-bad
+gstreamer1.0-plugins-ugly
+libgstrtspserver-1.0-0
+python3-opencv
+libopencv-dev
+ros-humble-ros2cli
+ros-humble-rclpy

docker-compose.yml

@@ -0,0 +1,31 @@
+services:
+  image2rtsp:
+    build: .
+    image: image2rtsp:latest
+    # Use host networking so the container binds to the host interfaces directly
+    # (Linux only). Remove port mapping when using host networking.
+    network_mode: "host"
+    environment:
+      - ROS_DISTRO=humble
+      # Propagate host ROS environment so DDS/discovery match (set on host if needed)
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+      - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-}
+    # Ensure the node binds to non-localhost interface (disable local_only)
+    # and subscribe to the actual image topic available on the host
+    command: ["image2rtsp.launch.py", "local_only:=false", "topic:=/camera/image"]
+
+  # Optional: add a lightweight test publisher service if you want the container
+  # to publish dummy images for testing (uncomment and adjust image if required).
+  # test_publisher:
+  #   image: image2rtsp:latest
+  #   network_mode: "host"
+  #   environment:
+  #     - ROS_DISTRO=humble
+  #     - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+  #     - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-}
+  #   command: ["/bin/bash", "-c", "python3 - <<'PY'\nimport time, rclpy\nfrom rclpy.node import Node\nfrom sensor_msgs.msg import Image\nrclpy.init()\nnode = Node('dummy_pub')\npub = node.create_publisher(Image, '/camera/image', 10)\nmsg = Image()\nmsg.width=640; msg.height=480; msg.encoding='rgb8'; msg.is_bigendian=0; msg.step=msg.width*3\nmsg.data = bytes([0])*(msg.step*msg.height)\ntry:\n  while rclpy.ok():\n    pub.publish(msg)\n    rclpy.spin_once(node, timeout_sec=0.01)\n    time.sleep(1/30)\nexcept KeyboardInterrupt:\n  pass\nrclpy.shutdown()\nPY"]
+    # Do not mount the workspace by default — the image contains the built overlay.
+    # To use a host workspace for live development, uncomment and adjust the line below:
+    # volumes:
+    #   - ./:/ws:rw
+    restart: unless-stopped

docker-entrypoint.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+# Source ROS and workspace overlays then exec ros2 launch with provided args
+if [ -n "${ROS_DISTRO:-}" ]; then
+  source "/opt/ros/${ROS_DISTRO}/setup.bash" || true
+else
+  source /opt/ros/humble/setup.bash || true
+fi
+
+if [ -f /ws/install/setup.bash ]; then
+  source /ws/install/setup.bash
+fi
+
+exec ros2 launch image2rtsp "$@"

requirements.txt

@@ -0,0 +1 @@
+opencv-python

src/video.cpp

@@ -159,6 +159,7 @@ void Image2rtsp::topic_callback(const sensor_msgs::msg::Image::SharedPtr msg){
     GstCaps *caps; // image properties. see return of Image2rtsp::gst_caps_new_from_image
     char *gst_type, *gst_format = (char *)"";
     if (appsrc != NULL){
+        RCLCPP_INFO(this->get_logger(), "Received image %dx%d, encoding=%s", msg->width, msg->height, msg->encoding.c_str());
         // Set caps from message
         caps = gst_caps_new_from_image(msg);
         gst_app_src_set_caps(appsrc, caps);