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RobotWebTools / web_video_server

HTTP Streaming of ROS Image Topics in Multiple Formats
http://ros.org/wiki/web_video_server
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Any plans for using it in ROS foxy? #110

Open alexkutsan opened 3 years ago

alexkutsan commented 3 years ago

Cant find ros foxy package. Cant; build for ros foxy because ros foxy use colcon instead of catkin. Converted using script : https://github.com/bponsler/ros2-support/blob/master/scripts/catkin-to-ament.py Find out that there is dependency to https://github.com/GT-RAIL/async_web_server_cpp And it is also do not support colcon. Converted one more time (with deleting tests) Compiled and installed async_web_server_cpp.

But Compilation of the web_video_server does not work: 

/home/developer/ros2_ws/web_video_server/src/web_video_server.cpp:5:10: fatal error: sensor_msgs/image_encodings.h: No such file or directory
    5 | #include <sensor_msgs/image_encodings.h>
      |          ^~~~
botamochi6277 commented 3 years ago

async_web_server_cpp for ROS2 is available.
I tried this and catch other error messages. I use Raspberry Pi 4 and foxy.

clone packages:

cd ros2_workspace/src
git clone https://github.com/GT-RAIL/async_web_server_cpp.git -b ros2
git clone https://github.com/RobotWebTools/web_video_server.git -b ros2

install dependencies: 

cd ros2_workspace
rosdep install -i --from-path src --rosdistro foxy -y

build async_web_server_cpp: 

colcon build --packages-select async_web_server_cpp

try to build web_video_server and catch error...

colcon build --packages-select web_video_server
Starting >>> web_video_server
--- stderr: web_video_server                         
CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
  Could NOT find FastRTPS (missing: FastRTPS_INCLUDE_DIR FastRTPS_LIBRARIES)
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
  /opt/ros/foxy/share/fastrtps_cmake_module/cmake/Modules/FindFastRTPS.cmake:95 (find_package_handle_standard_args)
  /opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c-extras.cmake:7 (find_package)
  /opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_cConfig.cmake:41 (include)
  /opt/ros/foxy/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /opt/ros/foxy/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /opt/ros/foxy/share/rosidl_default_runtime/cmake/rosidl_default_runtime-extras.cmake:12 (find_package)
  /opt/ros/foxy/share/rosidl_default_runtime/cmake/rosidl_default_runtimeConfig.cmake:41 (include)
  /opt/ros/foxy/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/foxy/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  /opt/ros/foxy/share/rcl_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/foxy/share/rcl_interfaces/cmake/rcl_interfacesConfig.cmake:41 (include)
  /opt/ros/foxy/share/rcl/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/foxy/share/rcl/cmake/rclConfig.cmake:41 (include)
  /opt/ros/foxy/share/libstatistics_collector/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/foxy/share/libstatistics_collector/cmake/libstatistics_collectorConfig.cmake:41 (include)
  /opt/ros/foxy/share/rclcpp/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/foxy/share/rclcpp/cmake/rclcppConfig.cmake:41 (include)
  /home/ubuntu/dev_ws/install/image_transport/share/image_transport/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/ubuntu/dev_ws/install/image_transport/share/image_transport/cmake/image_transportConfig.cmake:41 (include)
  CMakeLists.txt:8 (find_package)

---
Failed   <<< web_video_server [4.39s, exited with code 1]

Summary: 0 packages finished [9.58s]
  1 package failed: web_video_server
  1 package had stderr output: web_video_server
botamochi6277 commented 3 years ago

I add cmake-path for Fast RTPS with export CMAKE_PREFIX_PATH=$AMENT_PREFIX_PATH. And I build again and catch other errors.

colcon build --packages-select web_video_server
Starting >>> web_video_server
--- stderr: web_video_server                               
In file included from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/png_streamers.h:4,
                 from /home/ubuntu/dev_ws/src/web_video_server/src/png_streamers.cpp:1:
/home/ubuntu/dev_ws/install/image_transport/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                                                         ^
In file included from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/jpeg_streamers.h:4,
                 from /home/ubuntu/dev_ws/src/web_video_server/src/jpeg_streamers.cpp:1:
/home/ubuntu/dev_ws/install/image_transport/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                                                         ^
In file included from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/image_streamer.h:5,
                 from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/ros_compressed_streamer.h:5,
                 from /home/ubuntu/dev_ws/src/web_video_server/src/ros_compressed_streamer.cpp:1:
/home/ubuntu/dev_ws/install/image_transport/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                              ^

In file included from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/image_streamer.h:6,
                 from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/png_streamers.h:5,
                 from /home/ubuntu/dev_ws/src/web_video_server/src/png_streamers.cpp:1:
/home/ubuntu/dev_ws/install/image_transport/include/image_transport/transport_hints.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'transport_hints.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'transport_hints.hpp' instead")
      |                                                                                         ^
In file included from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/image_streamer.h:6,
                 from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/ros_compressed_streamer.h:5,
                 from /home/ubuntu/dev_ws/src/web_video_server/src/ros_compressed_streamer.cpp:1:
/home/ubuntu/dev_ws/install/image_transport/include/image_transport/transport_hints.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'transport_hints.hpp' instead
   41 | This header is deprecated. Use 'transport_hints.hpp' instead")
      |                                                              ^

In file included from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/image_streamer.h:6,
                 from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/jpeg_streamers.h:5,
                 from /home/ubuntu/dev_ws/src/web_video_server/src/jpeg_streamers.cpp:1:
/home/ubuntu/dev_ws/install/image_transport/include/image_transport/transport_hints.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'transport_hints.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'transport_hints.hpp' instead")
      |                                                                                         ^
/home/ubuntu/dev_ws/src/web_video_server/src/ros_compressed_streamer.cpp: In member function ‘virtual void web_video_server::RosCompressedStreamer::start()’:
/home/ubuntu/dev_ws/src/web_video_server/src/ros_compressed_streamer.cpp:22:103 error: no matching function for call to ‘rclcpp::Node::create_subscription<sensor_msgs::msg::CompressedImage>(std::string&, std::_Bind_helper<false, void (web_video_server::RosCompressedStreamer::*)(std::shared_ptr<const sensor_msgs::msg::CompressedImage_<std::allocator<void> > >), web_video_server::RosCompressedStreamer*, const std::_Placeholder<1>&>::type, int)’
   22 | essedStreamer::imageCallback, this, std::placeholders::_1), 1);
      |                                                              ^

In file included from /opt/ros/foxy/include/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/foxy/include/rclcpp/executors.hpp:22,
                 from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
                 from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/image_streamer.h:4,
                 from /home/ubuntu/dev_ws/src/web_video_server/include/web_video_server/ros_compressed_streamer.h:5,
                 from /home/ubuntu/dev_ws/src/web_video_server/src/ros_compressed_streamer.cpp:1:
/opt/ros/foxy/include/rclcpp/node.hpp:213:3: note: candidate: ‘template<class MessageT, class CallbackT, class AllocatorT, class CallbackMessageT, class SubscriptionT, class MessageMemoryStrategyT> std::shared_ptr<SubscriptionT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr)’
  213 |   create_subscription(
      |   ^~~~~~~~~~~~~~~~~~~
/opt/ros/foxy/include/rclcpp/node.hpp:213:3: note:   template argument deduction/substitution failed:
/opt/ros/foxy/include/rclcpp/node.hpp:204:5: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
  204 |     typename CallbackMessageT =
      |     ^~~~~~~~
/home/ubuntu/dev_ws/src/web_video_server/src/png_streamers.cpp: In member function ‘virtual void web_video_server::PngStreamer::sendImage(const cv::Mat&, const rclcpp::Time&)’:
/home/ubuntu/dev_ws/src/web_video_server/src/png_streamers.cpp:24:27: error: ‘CV_IMWRITE_PNG_COMPRESSION’ was not declared in this scope
   24 |   encode_params.push_back(CV_IMWRITE_PNG_COMPRESSION);
      |                           ^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/web_video_server/src/png_streamers.cpp: In member function ‘virtual void web_video_server::PngSnapshotStreamer::sendImage(const cv::Mat&, const rclcpp::Time&)’:
/home/ubuntu/dev_ws/src/web_video_server/src/png_streamers.cpp:66:27: error: ‘CV_IMWRITE_PNG_COMPRESSION’ was not declared in this scope
   66 |   encode_params.push_back(CV_IMWRITE_PNG_COMPRESSION);
      |                           ^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/web_video_server/src/jpeg_streamers.cpp: In member function ‘virtual void web_video_server::MjpegStreamer::sendImage(const cv::Mat&, const rclcpp::Time&)’:
/home/ubuntu/dev_ws/src/web_video_server/src/jpeg_streamers.cpp:24:27: error: ‘CV_IMWRITE_JPEG_QUALITY’ was not declared in this scope
   24 |   encode_params.push_back(CV_IMWRITE_JPEG_QUALITY);
      |                           ^~~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/web_video_server/src/jpeg_streamers.cpp: In member function ‘virtual void web_video_server::JpegSnapshotStreamer::sendImage(const cv::Mat&, const rclcpp::Time&)’:
/home/ubuntu/dev_ws/src/web_video_server/src/jpeg_streamers.cpp:66:27: error: ‘CV_IMWRITE_JPEG_QUALITY’ was not declared in this scope
   66 |   encode_params.push_back(CV_IMWRITE_JPEG_QUALITY);
      |                           ^~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/web_video_server.dir/build.make:154: CMakeFiles/web_video_server.dir/src/ros_compressed_streamer.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/web_video_server.dir/build.make:180: CMakeFiles/web_video_server.dir/src/png_streamers.cpp.o] Error 1
make[2]: *** [CMakeFiles/web_video_server.dir/build.make:167: CMakeFiles/web_video_server.dir/src/jpeg_streamers.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/web_video_server.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< web_video_server [30.0s, exited with code 2]

Summary: 0 packages finished [35.2s]
  1 package failed: web_video_server
  1 package had stderr output: web_video_server
APhanSpAARC commented 3 years ago

I'm also receiving errors when building the ROS2 branch. Anyone found a solution to this?

jgvictores commented 1 year ago

I'm also receiving errors when building the ROS2 branch. Anyone found a solution to this?

Yes (as always, sorry for bumping stale issues, but I feel it's better than finding no information at all), please see https://github.com/RobotWebTools/web_video_server/issues/105#issuecomment-1400439009