Compressed images support

include/image2rtsp.hpp

@@ -6,6 +6,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <string>
 #include "sensor_msgs/msg/image.hpp"
+#include "sensor_msgs/msg/compressed_image.hpp"
+#include <opencv2/opencv.hpp>
 
 using namespace std;
 
@@ -28,14 +30,17 @@ private:
     string pipeline_tail;
     bool local_only;
     bool camera;
+    bool compressed;
     GstAppSrc *appsrc;
 
     void video_mainloop_start();
     void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc);
     void topic_callback(const sensor_msgs::msg::Image::SharedPtr msg);
+    void compressed_topic_callback(const sensor_msgs::msg::CompressedImage::SharedPtr msg);
     GstRTSPServer *rtsp_server_create(const string &port, const bool local_only);
     GstCaps *gst_caps_new_from_image(const sensor_msgs::msg::Image::SharedPtr &msg);
     rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_;
+    rclcpp::Subscription<sensor_msgs::msg::CompressedImage>::SharedPtr subscription_compressed_;
 };
 
 static void media_configure(GstRTSPMediaFactory *factory, GstRTSPMedia *media, GstElement **appsrc);