Framerate is a parameter now

src/image2rtsp.cpp

@@ -12,19 +12,25 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
     this->declare_parameter("topic");
     this->declare_parameter("mountpoint");
     this->declare_parameter("bitrate");
-    this->declare_parameter("caps");
+    this->declare_parameter("framerate");
+    this->declare_parameter("caps_1");
+    this->declare_parameter("caps_2");
     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();
+    framerate = this->get_parameter("framerate").as_string();
+    caps_1 = this->get_parameter("caps_1").as_string();
+    caps_2 = this->get_parameter("caps_2").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")){
+    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;
     }
@@ -39,7 +45,7 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
     // 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_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;
+    pipeline = pipeline_head + caps_1 + framerate + caps_2 + " ! 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());
 }
@@ -52,7 +58,7 @@ int main(int argc, char *argv[]){
             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"), "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());
     }

src/video.cpp

@@ -131,7 +131,7 @@ 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);
 }