From 4904df248c6cb8cd6384553290154fedcf129774 Mon Sep 17 00:00:00 2001
From: Dzmitry Maladzenkau <dmalad@rptu.de>
Date: Fri, 3 Jan 2025 18:16:14 +0100
Subject: [PATCH 1/2] Note about compressed messages support on dev

---
 README.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index 68a3a54..70dee26 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,9 @@ This project is a migration from ROS1 to ROS2. The original code was developed b
 ## image2rtsp
 This project enables the conversion of a selected ROS2 topic of type `sensor_msgs::msg::Image` into an `RTSP` stream, with an anticipated delay of approximately 0,3-0,4s. It also supports usb camera as a direct source. The generated stream can be utilized for various purposes such as remote control, object detection tasks, monitoring and more.
 
-Currently supported `sensor_msgs::msg::Image` formats: "**rgb8**", "**rgba8**", "**rgb16**", "**rgba16**", "**bgr8**", "**bgra8**", "**bgr16**", "**bgra16**", "**mono8**", "**mono16**", "**yuv422_yuy2**".
+Currently supported `sensor_msgs::msg::Image` formats: "**rgb8**", "**rgba8**", "**rgb16**", "**rgba16**", "**bgr8**", "**bgra8**", "**bgr16**", "**bgra16**", "**mono8**", "**mono16**", "**yuv422_yuy2**". 
+Support for **Compressed images** is added on the *dev* branch.
+
 (if you need some specific unsupported format, create an issue and i will try to add it as soon as possible)
 
 The development is being carried out on Ubuntu 20.04 with ROS2 Foxy, also tested on Ubuntu 22.04 with ROS2 Humble.
@@ -82,5 +84,3 @@ cd ~/ros2_ws/
 source install/setup.bash
 ros2 launch image2rtsp rtsp.launch.py 
 ```
-## To Do
-- Add compressed images formats (jpeg, png)

From 047f42084c9506a68f2eb24aa63819cd437bddcb Mon Sep 17 00:00:00 2001
From: Dzmitry Maladzenkau <151655734+maladzenkau@users.noreply.github.com>
Date: Tue, 4 Feb 2025 17:02:08 +0100
Subject: [PATCH 2/2] Update image2rtsp.cpp

Fixed glued pipeline elements.
https://github.com/maladzenkau/image2rtsp/issues/8
---
 src/image2rtsp.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/image2rtsp.cpp b/src/image2rtsp.cpp
index d78c3a7..822d2a6 100644
--- a/src/image2rtsp.cpp
+++ b/src/image2rtsp.cpp
@@ -39,7 +39,7 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
     rtsp_server = rtsp_server_create(port, local_only);
     appsrc = NULL;
     // Setup the pipeline
-    pipeline_tail = "key-int-max=30 ! video/x-h264, profile=baseline ! rtph264pay name=pay0 pt=96 )";
+    pipeline_tail = " key-int-max=30 ! video/x-h264, profile=baseline ! rtph264pay name=pay0 pt=96 )";
     if (camera == false){
         pipeline_head = "( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true ! videoconvert ! videoscale ! ";
         pipeline = pipeline_head + caps_1 + framerate + caps_2 + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail;