ros2 component stable version

src/image2rtsp.cpp

@@ -1,34 +1,13 @@
+#include "../include/image2rtsp.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/image.hpp"
 #include <gst/gst.h>
 #include <gst/rtsp-server/rtsp-server.h>
 #include <gst/app/gstappsrc.h>
-#include "../include/image2rtsp.hpp"
 
 using std::placeholders::_1;
 
-Image2rtsp::Image2rtsp() : Node("image2rtsp"){
-    // Declare and get the parameters
-    this->declare_parameter("topic");
-    this->declare_parameter("mountpoint");
-    this->declare_parameter("bitrate");
-    this->declare_parameter("caps");
-    this->declare_parameter("port");
-    this->declare_parameter("local_only");
-
-    topic = this->get_parameter("topic").as_string();
-    mountpoint = this->get_parameter("mountpoint").as_string();
-    bitrate = this->get_parameter("bitrate").as_string();
-    caps = this->get_parameter("caps").as_string();
-    port = this->get_parameter("port").as_string();
-    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("caps") || !this->has_parameter("port")){
-        rclcpp::shutdown(); // Shutdown the node if there are some issues with launch file
-        return;
-    }
-
+Image2rtsp::Image2rtsp(const rclcpp::NodeOptions & options) : Node("image2rtsp"){
     // Start the subscription
     subscription_ = this->create_subscription<sensor_msgs::msg::Image>(topic, 10, std::bind(&Image2rtsp::topic_callback, this, _1));
 
@@ -37,25 +16,12 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
     rtsp_server = rtsp_server_create(port, local_only);
     appsrc = NULL;
     // Setup the pipeline
-    pipeline_head = "( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true ! videoconvert ! videoscale ! ";
+    pipeline_head = "( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true ! videoconvert ! ";
     pipeline_tail = "key-int-max=30 ! video/x-h264, profile=baseline ! rtph264pay name=pay0 pt=96 )";
     pipeline = pipeline_head + caps + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail;
     rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), (GstElement **)&(appsrc));
     RCLCPP_INFO(this->get_logger(), "Stream available at rtsp://%s:%s%s", gst_rtsp_server_get_address(rtsp_server), port.c_str(), mountpoint.c_str());
 }
 
-int main(int argc, char *argv[]){
-    rclcpp::init(argc, argv);
-    try{
-        auto node = std::make_shared<Image2rtsp>();
-        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. 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();
-    return 0;
-}
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(Image2rtsp)

src/video.cpp

@@ -4,10 +4,14 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include "../include/image2rtsp.hpp"
-#include "../include/image_encodings.h"
+
+extern "C" {
+  #include "../include/image_encodings.h"
+}
 
 using namespace std;
 
+
 static void *mainloop(void *arg){
     GMainLoop *loop = g_main_loop_new(NULL, FALSE);
     g_main_loop_run(loop);
@@ -131,7 +135,7 @@ GstCaps *Image2rtsp::gst_caps_new_from_image(const sensor_msgs::msg::Image::Shar
                                "format", G_TYPE_STRING, format->second.c_str(),
                                "width", G_TYPE_INT, msg->width,
                                "height", G_TYPE_INT, msg->height,
-                               "framerate", GST_TYPE_FRACTION, 10, 1,
+                               "framerate", GST_TYPE_FRACTION, stoi(framerate), 1,
                                nullptr);
 }