public
/
image2rtsp
mirror of https://github.com/maladzenkau/image2rtsp.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Update image2rtsp.cpp

This commit is contained in:
Dzmitry Maladzenkau 2023-12-05 14:47:16 +01:00 committed by GitHub
parent c178eb97dd
commit 10166b324f
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 10 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
src/image2rtsp.cpp
View File

@ -9,14 +9,14 @@ using std::placeholders::_1;
Image2rtsp::Image2rtsp() : Node("image2rtsp"){ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
// Declare and get the parameters // Declare and get the parameters
this->declare_parameter("topic"); this->declare_parameter("topic", "/color/image_raw");
this->declare_parameter("mountpoint"); this->declare_parameter("mountpoint", "/back");
this->declare_parameter("bitrate"); this->declare_parameter("bitrate", "500");
this->declare_parameter("framerate"); this->declare_parameter("framerate", "30");
this->declare_parameter("caps_1"); this->declare_parameter("caps_1", "video/x-raw, framerate =");
this->declare_parameter("caps_2"); this->declare_parameter("caps_2", "/1,width=640,height=480");
this->declare_parameter("port"); this->declare_parameter("port", "8554");
this->declare_parameter("local_only"); this->declare_parameter("local_only", true);
topic = this->get_parameter("topic").as_string(); topic = this->get_parameter("topic").as_string();
mountpoint = this->get_parameter("mountpoint").as_string(); mountpoint = this->get_parameter("mountpoint").as_string();
@ -27,14 +27,6 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
port = this->get_parameter("port").as_string(); port = this->get_parameter("port").as_string();
local_only = this->get_parameter("local_only").as_bool(); local_only = this->get_parameter("local_only").as_bool();
// Check if the parameter is set, since no default value is provided
if (!this->has_parameter("topic") || !this->has_parameter("mountpoint") || !this->has_parameter("bitrate") ||
!this->has_parameter("framerate") || !this->has_parameter("caps_1") || !this->has_parameter("caps_2") ||
!this->has_parameter("port") || !this->has_parameter("local_only")){
rclcpp::shutdown(); // Shutdown the node if there are some issues with launch file
return;
}
// Start the subscription // Start the subscription
subscription_ = this->create_subscription<sensor_msgs::msg::Image>(topic, 10, std::bind(&Image2rtsp::topic_callback, this, _1)); subscription_ = this->create_subscription<sensor_msgs::msg::Image>(topic, 10, std::bind(&Image2rtsp::topic_callback, this, _1));
@ -52,16 +44,8 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
int main(int argc, char *argv[]){ int main(int argc, char *argv[]){
rclcpp::init(argc, argv); rclcpp::init(argc, argv);
try{ auto node = std::make_shared<Image2rtsp>();
auto node = std::make_shared<Image2rtsp>(); rclcpp::spin(node);
if (rclcpp::ok()){
rclcpp::spin(node);
}
}catch (const std::exception &e){
RCLCPP_INFO(rclcpp::get_logger("image2rtsp"), "One or more required parameters are not set, or set incorrectly. Shutting down the node.");
RCLCPP_INFO(rclcpp::get_logger("image2rtsp"), "Tip: Start the node only using launch file. Also rebuild after making changes in the YAML file");
RCLCPP_ERROR(rclcpp::get_logger("image2rtsp"), "Parameter is not set: %s", e.what());
}
rclcpp::shutdown(); rclcpp::shutdown();
return 0; return 0;
} }