fix: fix parameters and clean up node handles #136
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| Original file line number | Diff line number | Diff line change | ||||||
|---|---|---|---|---|---|---|---|---|
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@@ -49,47 +49,57 @@ static bool ros_connection_logger(async_web_server_cpp::HttpServerRequestHandler | |||||||
| return false; | ||||||||
| } | ||||||||
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||||||||
| WebVideoServer::WebVideoServer(const std::string& nodeName) : | ||||||||
| Node(nodeName), | ||||||||
| nh_(std::shared_ptr<WebVideoServer>(this, [](auto *) {})), | ||||||||
| handler_group_( | ||||||||
| async_web_server_cpp::HttpReply::stock_reply(async_web_server_cpp::HttpReply::not_found)) | ||||||||
| { | ||||||||
| declare_parameter("port", rclcpp::PARAMETER_INTEGER); | ||||||||
| declare_parameter("verbose", rclcpp::PARAMETER_BOOL); | ||||||||
| declare_parameter("address", rclcpp::PARAMETER_STRING); | ||||||||
| declare_parameter("server_threads", rclcpp::PARAMETER_INTEGER); | ||||||||
| declare_parameter("ros_threads", rclcpp::PARAMETER_INTEGER); | ||||||||
| declare_parameter("publish_rate", rclcpp::PARAMETER_DOUBLE); | ||||||||
| declare_parameter("default_stream_type", rclcpp::PARAMETER_STRING); | ||||||||
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||||||||
| rclcpp::Parameter parameter; | ||||||||
| if (get_parameter("port", parameter)) { | ||||||||
| port_ = parameter.as_int(); | ||||||||
| } else { | ||||||||
| port_ = 8080; | ||||||||
| } | ||||||||
| if (get_parameter("verbose", parameter)) { | ||||||||
| __verbose = parameter.as_bool(); | ||||||||
| } else { | ||||||||
| __verbose = true; | ||||||||
| } | ||||||||
|
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||||||||
| if (get_parameter("address", parameter)) { | ||||||||
| address_ = parameter.as_string(); | ||||||||
| } else { | ||||||||
| address_ = "0.0.0.0"; | ||||||||
| } | ||||||||
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||||||||
| int server_threads; | ||||||||
| if (get_parameter("server_threads", parameter)) { | ||||||||
| server_threads = parameter.as_int(); | ||||||||
| } else { | ||||||||
| server_threads = 1; | ||||||||
| } | ||||||||
|
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||||||||
| if (get_parameter("ros_threads", parameter)) { | ||||||||
| ros_threads_ = parameter.as_int(); | ||||||||
| } else { | ||||||||
| ros_threads_ = 2; | ||||||||
| } | ||||||||
| if (get_parameter("publish_rate", parameter)) { | ||||||||
| publish_rate_ = parameter.as_double(); | ||||||||
| } else { | ||||||||
| publish_rate_ = -1.0; | ||||||||
| } | ||||||||
|
|
||||||||
| if (get_parameter("default_stream_type", parameter)) { | ||||||||
| __default_stream_type = parameter.as_string(); | ||||||||
| } else { | ||||||||
| __default_stream_type = "mjpeg"; | ||||||||
|
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@@ -117,32 +127,26 @@ WebVideoServer::WebVideoServer(rclcpp::Node::SharedPtr &nh, rclcpp::Node::Shared | |||||||
| } | ||||||||
|
There was a problem hiding this comment. This print was removed, but I found it really useful to check that everything is launching correctly
Suggested change
|
||||||||
| catch(boost::exception& e) | ||||||||
| { | ||||||||
| RCLCPP_ERROR(get_logger(), "Exception when creating the web server! %s:%d", address_.c_str(), port_); | ||||||||
| throw; | ||||||||
| } | ||||||||
|
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||||||||
| if ( publish_rate_ > 0 ) { | ||||||||
| create_wall_timer(1s / publish_rate_, [this](){restreamFrames(1.0 / publish_rate_);}); | ||||||||
| } | ||||||||
|
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||||||||
| server_->run(); | ||||||||
| } | ||||||||
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||||||||
| WebVideoServer::~WebVideoServer() | ||||||||
| { | ||||||||
| server_->stop(); | ||||||||
| } | ||||||||
|
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||||||||
| void WebVideoServer::setup_cleanup_inactive_streams() | ||||||||
| { | ||||||||
| std::function<void()> callback = std::bind(&WebVideoServer::cleanup_inactive_streams, this); | ||||||||
| cleanup_timer_ = create_wall_timer(500ms, callback); | ||||||||
| } | ||||||||
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||||||||
| void WebVideoServer::restreamFrames( double max_age ) | ||||||||
|
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@@ -169,7 +173,7 @@ void WebVideoServer::cleanup_inactive_streams() | |||||||
| { | ||||||||
| for (itr_type itr = new_end; itr < image_subscribers_.end(); ++itr) | ||||||||
| { | ||||||||
| RCLCPP_INFO(get_logger(), "Removed Stream: %s", (*itr)->getTopic().c_str()); | ||||||||
| } | ||||||||
| } | ||||||||
| image_subscribers_.erase(new_end, image_subscribers_.end()); | ||||||||
|
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@@ -188,7 +192,7 @@ bool WebVideoServer::handle_stream(const async_web_server_cpp::HttpRequest &requ | |||||||
| if (type == std::string("ros_compressed")) | ||||||||
| { | ||||||||
| std::string compressed_topic_name = topic + "/compressed"; | ||||||||
| auto tnat = get_topic_names_and_types(); | ||||||||
| bool did_find_compressed_topic = false; | ||||||||
| for (auto topic_and_types : tnat) { | ||||||||
| if (topic_and_types.second.size() > 1) { | ||||||||
|
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@@ -203,7 +207,7 @@ bool WebVideoServer::handle_stream(const async_web_server_cpp::HttpRequest &requ | |||||||
| } | ||||||||
| if (!did_find_compressed_topic) | ||||||||
| { | ||||||||
| RCLCPP_WARN(get_logger(), "Could not find compressed image topic for %s, falling back to mjpeg", topic.c_str()); | ||||||||
| type = "mjpeg"; | ||||||||
| } | ||||||||
| } | ||||||||
|
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@@ -245,7 +249,7 @@ bool WebVideoServer::handle_stream_viewer(const async_web_server_cpp::HttpReques | |||||||
| { | ||||||||
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||||||||
| std::string compressed_topic_name = topic + "/compressed"; | ||||||||
| auto tnat = get_topic_names_and_types(); | ||||||||
| bool did_find_compressed_topic = false; | ||||||||
| for (auto topic_and_types : tnat) { | ||||||||
| if (topic_and_types.second.size() > 1) { | ||||||||
|
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@@ -260,7 +264,7 @@ bool WebVideoServer::handle_stream_viewer(const async_web_server_cpp::HttpReques | |||||||
| } | ||||||||
| if (!did_find_compressed_topic) | ||||||||
| { | ||||||||
| RCLCPP_WARN(get_logger(), "Could not find compressed image topic for %s, falling back to mjpeg", topic.c_str()); | ||||||||
| type = "mjpeg"; | ||||||||
| } | ||||||||
| } | ||||||||
|
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@@ -289,7 +293,7 @@ bool WebVideoServer::handle_list_streams(const async_web_server_cpp::HttpRequest | |||||||
| { | ||||||||
| std::vector<std::string> image_topics; | ||||||||
| std::vector<std::string> camera_info_topics; | ||||||||
| auto tnat = get_topic_names_and_types(); | ||||||||
| for (auto topic_and_types : tnat) { | ||||||||
| if (topic_and_types.second.size() > 1) { | ||||||||
| // explicitly avoid topics with more than one type | ||||||||
|
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@@ -377,13 +381,16 @@ bool WebVideoServer::handle_list_streams(const async_web_server_cpp::HttpRequest | |||||||
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||||||||
| int main(int argc, char **argv) | ||||||||
| { | ||||||||
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||||||||
| rclcpp::init(argc, argv); | ||||||||
| auto node = std::make_shared<web_video_server::WebVideoServer>("web_video_server"); | ||||||||
| node->setup_cleanup_inactive_streams(); | ||||||||
| rclcpp::executors::MultiThreadedExecutor executor; | ||||||||
| executor.add_node(node); | ||||||||
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||||||||
| executor.spin(); | ||||||||
| rclcpp::shutdown(); | ||||||||
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||||||||
| return (0); | ||||||||
| } | ||||||||
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In my case, using humble the cv_bridge.hpp is not found by the compilator
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The cv_bridge.h header seems to be deprecated:
#warning This header is obsolete, please include cv_bridge/cv_bridge.hpp insteadSince we are compiling using -werror, this breaks compilation for us.
Is there a compile time switch that we can use to check for the ros2 version?
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Yay, I just notice the root cause of the problem. It is because the humble branch of cv_bridge has not been updated with the new header file. Still, we can fix it here at compile time by detecting ROS distro at compile time by doing something like that.
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This has been fixed in #149