Merge 7d4eca3c46 into 2ba0f2e9f6

.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 +1,54 @@
+FROM ros:humble-ros-base AS build
+SHELL ["/bin/bash", "-lc"]
+WORKDIR /ws
+
+# Install build dependencies
+COPY apt-requirements.txt /tmp/apt-build.txt
+RUN apt-get update \
+  && grep -Ev '^[[:space:]]*($|#)' /tmp/apt-build.txt | xargs apt-get install -y --no-install-recommends \
+  && rm -rf /var/lib/apt/lists/* /tmp/apt-build.txt
+
+# Copy package manifest and install rosdeps
+COPY package.xml ./package.xml
+RUN add-apt-repository multiverse || true
+RUN source /opt/ros/humble/setup.bash \
+  && rosdep update || true \
+  && rosdep install -i --from-paths . --rosdistro humble -y || true
+
+# Copy sources and build
+COPY . .
+RUN source /opt/ros/humble/setup.bash \
+  && CCACHE_DIR=/ccache mkdir -p /ccache \
+  && chmod 777 /ccache \
+  && colcon build --parallel-workers $(nproc) \
+    --cmake-args -G Ninja -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+
+FROM ros:humble-ros-base
+WORKDIR /ws
+## Install minimal runtime packages required by the built binaries
+COPY apt-runtime.txt /tmp/apt-runtime.txt
+RUN apt-get update \
+  && grep -Ev '^[[:space:]]*($|#)' /tmp/apt-runtime.txt | xargs 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
+# Bake FastDDS UDP-only profile into the image so the shared-memory transport
+# fix applies regardless of how the container is started (compose or docker run).
+COPY fastdds_no_shm.xml /ws/fastdds_no_shm.xml
+ENV ROS_DISTRO=humble
+ENV FASTRTPS_DEFAULT_PROFILES_FILE=/ws/fastdds_no_shm.xml
+
+## Make ROS and workspace overlays available for interactive shells
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash || true" > /etc/profile.d/ros2.sh \
+ && echo "[ -f /ws/install/setup.bash ] && source /ws/install/setup.bash" >> /etc/profile.d/ros2.sh \
+ && chmod +x /etc/profile.d/ros2.sh
+
+# Also source in non-login interactive bash shells
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash || true" >> /etc/bash.bashrc \
+ && echo "[ -f /ws/install/setup.bash ] && source /ws/install/setup.bash" >> /etc/bash.bashrc
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["image2rtsp.launch.py"]

README.md

@@ -14,10 +14,34 @@ You are reading now the README for a **default** ROS2 package. If you want to us
 ## Dependencies
 - ROS2 Humble
 
+- Dependency files in this repository:
+  - `apt-requirements.txt`: build-only system dependencies.
+  - `apt-runtime.txt`: runtime system dependencies (minimal default set).
+  - `requirements.txt`: pip dependencies (currently none required).
+- OpenCV policy: use APT package `python3-opencv` (do not install `opencv-python` via pip by default).
+
+- Optional debug-only packages:
+  - `ros-humble-ros2cli`
+  - `net-tools`
+  - `iputils-ping`
+  - These are listed as commented entries in `apt-runtime.txt` and are not installed by default.
+
 - gstreamer libs:
 ```bash
 sudo apt-get install libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev libgstreamer-plugins-bad1.0-dev libgstrtspserver-1.0-dev gstreamer1.0-plugins-ugly gstreamer1.0-plugins-bad
 ```
+
+For a minimal host setup using repository-managed lists:
+```bash
+sudo apt-get update
+grep -Ev '^[[:space:]]*($|#)' apt-requirements.txt | xargs sudo apt-get install -y --no-install-recommends
+grep -Ev '^[[:space:]]*($|#)' apt-runtime.txt | xargs sudo apt-get install -y --no-install-recommends
+```
+
+Install debug tools only when needed:
+```bash
+sudo apt-get install -y --no-install-recommends ros-humble-ros2cli net-tools iputils-ping
+```
 ## Install
   - Navigate to the root directory, create a new directory named `ros2_ws/src`, and then change the current working directory to `ros2_ws/src`:
       ```bashrc

apt-requirements.txt

@@ -0,0 +1,16 @@
+python3-colcon-common-extensions
+build-essential
+cmake
+pkg-config
+libopencv-dev
+python3-rosdep
+python3-rosdistro
+software-properties-common
+libgstreamer1.0-dev
+libgstreamer-plugins-base1.0-dev
+libgstreamer-plugins-bad1.0-dev
+libgstreamer-plugins-good1.0-dev
+libgstrtspserver-1.0-dev
+ninja-build
+ccache
+

apt-runtime.txt

@@ -0,0 +1,14 @@
+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
+ros-humble-rclpy
+
+# Optional debug-only tools (not required for normal runtime)
+# Uncomment/install manually only when troubleshooting:
+# ros-humble-ros2cli
+# net-tools
+# iputils-ping

config/parameters.yaml

@@ -3,12 +3,12 @@
 
       # If the source is a ros2 topic (default case)
       compressed:       False
-      topic:            "color/image_raw"
+      topic:            "camera/image"
       default_pipeline: |
                         ( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true !
                           videoconvert !
                           videoscale !
-                          video/x-raw, framerate=30/1, width=640, height=480 !
+                          video/x-raw, framerate=8/1 !
                           x264enc tune=zerolatency bitrate=500 key-int-max=30 !
                           video/x-h264, profile=baseline !
                           rtph264pay name=pay0 pt=96 )
@@ -31,9 +31,9 @@
       # Notice: Here the framerate might be set to the camera framerate, otherwise "503 Service Unavailable" error will appear.
 
       # RTSP setup
-      mountpoint:       "/back"
+      mountpoint:       "/live"
       port:             "8554"
-      local_only:       True     # True = rtsp://127.0.0.1:portAndMountpoint (The stream is accessible only from the local machine)
+      local_only:       False     # True = rtsp://127.0.0.1:portAndMountpoint (The stream is accessible only from the local machine)
                                  # False = rtsp://0.0.0.0:portAndMountpoint (The stream is accessible from the outside) 
                                  # For example, to access the stream running on the machine with IP = 192.168.20.20,
                                  # use rtsp://192.186.20.20:portAndMountpoint

docker-compose.yml

@@ -0,0 +1,23 @@
+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:-}
+      # GStreamer debug level (uncomment for verbose GStreamer logging)
+      # - GST_DEBUG=${GST_DEBUG:-}
+      # FASTRTPS_DEFAULT_PROFILES_FILE is set in the Dockerfile (baked into image)
+    # Ensure the node binds to non-localhost interface (disable local_only)
+    # and subscribe to the actual image topic available on the host
+
+    #log_level:= info, debug, warning, error, fatal
+    command: ["image2rtsp.launch.py", "local_only:=false", "topic:=/camera/image", "log_level:=info"]
+
+
+    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 "$@"

fastdds_no_shm.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Force UDP transport only.
+     Shared memory transport fails between host and Docker container (different
+     PID namespaces) even with network_mode: host. Disabling it forces FastDDS
+     to use UDPv4, which works correctly over the loopback interface. -->
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>UDPv4Transport</transport_id>
+            <type>UDPv4</type>
+        </transport_descriptor>
+    </transport_descriptors>
+    <participant profile_name="default_participant" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>UDPv4Transport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>

include/image2rtsp.hpp

@@ -15,6 +15,8 @@ class Image2rtsp : public rclcpp::Node{
 public:
     Image2rtsp();
     GstRTSPServer *rtsp_server;
+    uint framerate;
+    GstAppSrc *appsrc;
 
 private:
     string topic;
@@ -23,14 +25,12 @@ private:
     string pipeline;
     string default_pipeline;
     string camera_pipeline;
-    uint framerate;
     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 rtsp_server_add_url(const char *url, const char *sPipeline);
     void topic_callback(const sensor_msgs::msg::Image::SharedPtr msg);
     void compressed_topic_callback(const sensor_msgs::msg::CompressedImage::SharedPtr msg);
     uint extract_framerate(const std::string& pipeline, uint default_framerate);
@@ -40,7 +40,7 @@ private:
     rclcpp::Subscription<sensor_msgs::msg::CompressedImage>::SharedPtr subscription_compressed_;
 };
 
-static void media_configure(GstRTSPMediaFactory *factory, GstRTSPMedia *media, GstElement **appsrc);
+static void media_configure(GstRTSPMediaFactory *factory, GstRTSPMedia *media, gpointer user_data);
 static void *mainloop(void *arg);
 static gboolean session_cleanup(Image2rtsp *node, rclcpp::Logger logger, gboolean ignored);
 

launch/image2rtsp.launch.py

@@ -1,6 +1,8 @@
 import os
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 def generate_launch_description():
@@ -10,11 +12,19 @@ def generate_launch_description():
       'parameters.yaml'
       )
 
+   log_level = LaunchConfiguration('log_level')
+
    return LaunchDescription([
+      DeclareLaunchArgument(
+         'log_level',
+         default_value='warn',
+         description='ROS logger level (debug, info, warn, error, fatal)'
+      ),
       Node(
          package='image2rtsp',
          executable='image2rtsp',
          name='image2rtsp',
-         parameters=[config]
+         parameters=[config],
+         arguments=['--ros-args', '--log-level', log_level]
       )
    ])

requirements.txt

@@ -0,0 +1,2 @@
+# No required pip dependencies.
+# OpenCV is provided via apt package: python3-opencv.

run_image2rtsp.sh

@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+set -e
+
+# Minimal launcher: runs a package launch with optional args.
+exec ros2 launch image2rtsp "${1:-image2rtsp.launch.py}" "${@:2}"

src/image2rtsp.cpp

@@ -49,15 +49,15 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
     if (camera == false){
         if (compressed == false){
             subscription_ = this->create_subscription<sensor_msgs::msg::Image>(topic, 10, std::bind(&Image2rtsp::topic_callback, this, _1));
-            RCLCPP_INFO(this->get_logger(), "Subscribing to sensor_msgs::msg::Image");
+            RCLCPP_DEBUG(this->get_logger(), "Subscribing to sensor_msgs::msg::Image");
         }
         else {
             subscription_compressed_ = this->create_subscription<sensor_msgs::msg::CompressedImage>(topic, 10, std::bind(&Image2rtsp::compressed_topic_callback, this, _1));
-            RCLCPP_INFO(this->get_logger(), "Subscribing to sensor_msgs::msg::CompressedImage");
+            RCLCPP_DEBUG(this->get_logger(), "Subscribing to sensor_msgs::msg::CompressedImage");
         }
     }
     else {
-        RCLCPP_INFO(this->get_logger(), "Trying to access camera device");
+        RCLCPP_DEBUG(this->get_logger(), "Trying to access camera device");
     }
 
     // Start the RTSP server
@@ -67,9 +67,15 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
 
     pipeline = camera ? camera_pipeline : default_pipeline;
     framerate = extract_framerate(pipeline, 30);
-    rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), camera ? nullptr : (GstElement **)&appsrc);
+    rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str());
 
-    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());
+    const char *server_address = gst_rtsp_server_get_address(rtsp_server);
+    if (local_only) {
+        RCLCPP_DEBUG(this->get_logger(), "Stream available at rtsp://%s:%s%s", server_address, port.c_str(), mountpoint.c_str());
+    } else {
+        RCLCPP_DEBUG(this->get_logger(), "RTSP server bound to %s:%s%s", server_address, port.c_str(), mountpoint.c_str());
+        RCLCPP_DEBUG(this->get_logger(), "Connect clients using rtsp://<host-ip>:%s%s (0.0.0.0 is bind-only)", port.c_str(), mountpoint.c_str());
+    }
 }
 
 uint Image2rtsp::extract_framerate(const std::string& pipeline, uint default_framerate = 30) {
@@ -99,7 +105,7 @@ uint Image2rtsp::extract_framerate(const std::string& pipeline, uint default_fra
             RCLCPP_WARN(this->get_logger(), "Invalid framerate value %d, using default: %d", framerate, default_framerate);
             return default_framerate;
         }
-        RCLCPP_INFO(this->get_logger(), "Using set framerate %d", framerate);
+        RCLCPP_DEBUG(this->get_logger(), "Using set framerate %d", framerate);
         return framerate;
     } catch (const std::exception& e) {
         RCLCPP_WARN(this->get_logger(), "Failed to parse framerate '%s', using default: %d", framerate_str.c_str(), default_framerate);

src/video.cpp

@@ -38,7 +38,7 @@ GstRTSPServer *Image2rtsp::rtsp_server_create(const std::string &port, const boo
     return server;
 }
 
-void Image2rtsp::rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc){
+void Image2rtsp::rtsp_server_add_url(const char *url, const char *sPipeline){
     GstRTSPMountPoints *mounts;
     GstRTSPMediaFactory *factory;
 
@@ -55,9 +55,12 @@ void Image2rtsp::rtsp_server_add_url(const char *url, const char *sPipeline, Gst
 
     /* notify when our media is ready, This is called whenever someone asks for
      * the media and a new pipeline is created */
-    g_signal_connect(factory, "media-configure", (GCallback)media_configure, appsrc);
+    // Pass `this` as user_data so media_configure can access node state and push a preroll frame
+    g_signal_connect(factory, "media-configure", (GCallback)media_configure, this);
 
-    gst_rtsp_media_factory_set_shared(factory, TRUE);
+    // Use non-shared media factory so each client gets its own pipeline
+    // This avoids prerolling a shared pipeline without available appsrc data
+    gst_rtsp_media_factory_set_shared(factory, FALSE);
 
     /* attach the factory to the url */
     gst_rtsp_mount_points_add_factory(mounts, url, factory);
@@ -66,17 +69,30 @@ void Image2rtsp::rtsp_server_add_url(const char *url, const char *sPipeline, Gst
     g_object_unref(mounts);
 }
 
-static void media_configure(GstRTSPMediaFactory *factory, GstRTSPMedia *media, GstElement **appsrc){
+static void media_configure(GstRTSPMediaFactory *factory, GstRTSPMedia *media, gpointer user_data){
-    if(appsrc){
+    Image2rtsp *node = static_cast<Image2rtsp*>(user_data);
-        GstElement *pipeline = gst_rtsp_media_get_element(media);
+    GstElement *pipeline = gst_rtsp_media_get_element(media);
+    GstElement *imagesrc = gst_bin_get_by_name(GST_BIN(pipeline), "imagesrc");
 
-        *appsrc = gst_bin_get_by_name(GST_BIN(pipeline), "imagesrc");
+    if (imagesrc){
+        /* store appsrc in node for later pushes */
+        node->appsrc = GST_APP_SRC(imagesrc);
 
-        /* this instructs appsrc that we will be dealing with timed buffer */
+        /* instruct appsrc that we will be dealing with timed buffers */
-        gst_util_set_object_arg(G_OBJECT(*appsrc), "format", "time");
+        gst_util_set_object_arg(G_OBJECT(node->appsrc), "format", "time");
 
+        /* mark stream-type to not require preroll and reduce buffering */
+        gst_app_src_set_stream_type(node->appsrc, GST_APP_STREAM_TYPE_STREAM);
+        gst_app_src_set_max_buffers(node->appsrc, 0);
+        gst_app_src_set_max_bytes(node->appsrc, 0);
+        gst_app_src_set_max_time(node->appsrc, 0);
+
+        /* caps and first buffer are set by topic_callback from the real image
+         * so that caps always match the actual camera resolution/format.
+         * Pushing a dummy preroll with wrong caps breaks x264enc mid-stream. */
         gst_object_unref(pipeline);
-    }else{
+        return;
+    } else {
         guint i, n_streams;
         n_streams = gst_rtsp_media_n_streams(media);
 
@@ -149,7 +165,7 @@ static gboolean session_cleanup(Image2rtsp *node, rclcpp::Logger logger, gboolea
     {
         char s[32];
         snprintf(s, 32, (char *)"Sessions cleaned: %d", num);
-        RCLCPP_INFO(node->get_logger(), s);
+        RCLCPP_DEBUG(node->get_logger(), s);
     }
     return TRUE;
 }
@@ -159,9 +175,11 @@ 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_DEBUG(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);
+        gst_caps_unref(caps);
         buf = gst_buffer_new_allocate(nullptr, msg->data.size(), nullptr);
         gst_buffer_fill(buf, 0, msg->data.data(), msg->data.size());
         GST_BUFFER_FLAG_SET(buf, GST_BUFFER_FLAG_LIVE);