ros-drivers · hap1961 · Dec 1, 2020 · Dec 1, 2020 · Dec 1, 2020
diff --git a/.travis.yml b/.travis.yml
@@ -1,5 +1,4 @@
-
-# this is .traivs.yml written by ./create_travis_settings.py
+# this is .traivs.yml written by -
 
 # https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/devel_jobs.rst
 # https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/prerelease_jobs.rst
@@ -8,16 +7,13 @@ sudo: true
 dist: trusty
 language: python
 python:
-  - "3.4"
+  - "3.6"
 env:
   global:
     - JOB_PATH=/tmp/devel_job
     - ABORT_ON_TEST_FAILURE=1
   matrix:
-    - ROS_DISTRO_NAME=indigo  OS_NAME=ubuntu OS_CODE_NAME=trusty ARCH=amd64
-    - ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64
-    - ROS_DISTRO_NAME=lunar   OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64
-    - ROS_DISTRO_NAME=melodic OS_NAME=ubuntu OS_CODE_NAME=bionic ARCH=amd64
+    - ROS_DISTRO_NAME=noetic  OS_NAME=ubuntu OS_CODE_NAME=focal  ARCH=amd64
 #   matrix:
 #     allow_failures:
 #       - env: ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,9 +1,16 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 
 project(gscam)
 
 # System Dependencies
-find_package(PkgConfig)
+# pkg-config libraries
+find_package(PkgConfig REQUIRED)
+
+#
+# For Noetic 
+#   - removed ROSBUILD target (deprecated)
+#   - should remove gstreamer-0.10 support (old)
+#
 
 pkg_check_modules(GSTREAMER QUIET gstreamer-0.10)
 if(NOT GSTREAMER_FOUND)
@@ -19,112 +26,67 @@ else()
   pkg_check_modules(GST_APP REQUIRED gstreamer-app-0.10)
 endif()
 
-if(USE_ROSBUILD)
-  # Use rosbuild
-  include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-  rosbuild_init()
-
-  set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-  set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-  include_directories(${GLIB_INCLUDE_DIRS} ${GST_APP_INCLUDE_DIRS})
-
-  rosbuild_add_library(gscam src/gscam.cpp)
-  target_link_libraries(gscam
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
 
-  rosbuild_add_executable(gscam_node src/gscam_node.cpp)
-  target_link_libraries(gscam_node gscam
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
-  set_target_properties(gscam_node PROPERTIES OUTPUT_NAME gscam)
-
-  rosbuild_add_library(GSCamNodelet src/gscam_nodelet.cpp)
-  target_link_libraries(GSCamNodelet gscam
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
-
-else()
-  # Use Catkin
-  find_package(catkin REQUIRED 
-    COMPONENTS roscpp image_transport sensor_msgs nodelet
-    camera_calibration_parsers camera_info_manager
-    )
-
-  catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES gscam
-    CATKIN_DEPENDS roscpp nodelet image_transport sensor_msgs
-    camera_calibration_parsers camera_info_manager
-    DEPENDS GSTREAMER GST_APP
-    )
-
-  include_directories(
-    include
-    ${catkin_INCLUDE_DIRS}
-    ${GLIB_INCLUDE_DIRS}
-    ${GST_APP_INCLUDE_DIRS})
-
-  add_library(gscam src/gscam.cpp)
-  target_link_libraries(gscam
-    ${catkin_LIBRARIES}
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
-
-  add_executable(gscam_node src/gscam_node.cpp)
-  target_link_libraries(gscam_node gscam
-    ${catkin_LIBRARIES}
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
-  set_target_properties(gscam_node PROPERTIES OUTPUT_NAME gscam)
-
-  add_library(GSCamNodelet src/gscam_nodelet.cpp)
-  target_link_libraries(GSCamNodelet gscam
-    ${catkin_LIBRARIES}
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
-
-  # Install directives
-
-  install(TARGETS gscam gscam_node GSCamNodelet
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-    )
-
-  install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-    PATTERN ".svn" EXCLUDE)
-
-  install(FILES nodelet_plugins.xml
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-    )
-
-  install(FILES
-    examples/v4l.launch
-    examples/gscam_nodelet.launch
-    examples/nodelet_pipeline.launch
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-    )
-
-  install(FILES examples/uncalibrated_parameters.ini
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/examples
-    )
-
-  # Interim compatibility
-  # Remove this in the next release
-  install(FILES ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node
-    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-  set(EXECUTABLE_OUTPUT_PATH ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME})
-endif()
+# Use Catkin build tools.
+find_package(catkin REQUIRED COMPONENTS roscpp image_transport sensor_msgs camera_calibration_parsers camera_info_manager )
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS roscpp image_transport sensor_msgs camera_calibration_parsers camera_info_manager
+  DEPENDS GSTREAMER GST_APP
+)
+
+# Build defs
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${GLIB_INCLUDE_DIRS}
+  ${GST_APP_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME} src/gscam.cpp)
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${GSTREAMER_LIBRARIES}
+  ${GST_APP_LIBRARIES}
+)
+
+add_executable(${PROJECT_NAME}_node src/gscam_node.cpp)
+target_link_libraries(${PROJECT_NAME}_node 
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${GSTREAMER_LIBRARIES}
+  ${GST_APP_LIBRARIES}
+)
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
+
+# Install directives
+
+install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+)
+
+install(FILES nodelet_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  FILES_MATCHING PATTERN "*.launch"
+)
+
+install(FILES examples/uncalibrated_parameters.ini
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/examples
+)
+
+set(EXECUTABLE_OUTPUT_PATH ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME})
 
-# Interim compatibility
-# Remove this in the next distribution release
-configure_file(scripts/gscam_node.in ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node)
-file(COPY ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node 
-  DESTINATION ${EXECUTABLE_OUTPUT_PATH}
-  FILE_PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE)
 
 
diff --git a/Makefile b/Makefile
diff --git a/README.md b/README.md
@@ -9,7 +9,7 @@ several fixes incorporated into it to make it broadcast correct
 `sensor_msgs/Image` messages with proper frames and timestamps. It also allows
 for more ROS-like configuration and more control over the GStreamer interface.
 
-Note that this pacakge can be built both in a rosbuild and catkin workspaces.
+Note that this pacakge now only supports building in catkin workspaces.
 
 GStreamer Library Support
 -------------------------
@@ -38,15 +38,15 @@ sudo add-apt-repository ppa:gstreamer-developers/ppa
 sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
 ```
 
-##### 14.04
+##### 14.04 + 16.04 + 18.04 + 20.04
 
 ```sh
 sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
 ```
 
 #### Usage:
 * Use the CMake flag `-DGSTREAMER_VERSION_1_x=On` when building
-* See the [Video4Linux2 launchfile example](examples/v4l.launch) for
+* See the [Video4Linux2 launchfile example](launch/v4l.launch) for
   an example of the differences in the GStreamer config lines
 
 #### Notes:
@@ -70,7 +70,7 @@ This can be run as both a node and a nodelet.
 * `camera/set_camera_info`
 
 #### Parameters
-* `~camera_name`: The name of the camera (corrsponding to the camera info)
+* `~camera_name`: The name of the camera (corresponding to the camera info - `camera_name/` replaces `camera/` in the topic list)
 * `~camera_info_url`: A url (`file://path/to/file`, `package://pkg_name/path/to/file`) to the [camera calibration file](http://www.ros.org/wiki/camera_calibration_parsers#File_formats).
 * `~gscam_config`: The GStreamer [configuration string](http://wiki.oz9aec.net/index.php?title=Gstreamer_cheat_sheet&oldid=1829).
 * `~frame_id`: The [TF](http://www.ros.org/wiki/tf) frame ID.
@@ -88,12 +88,15 @@ Examples
 See example launchfiles and configs in the examples directory. Currently there
 are examples for:
 
-* [Video4Linux2](examples/v4l.launch): Standard
+* [Video4Linux2](launch/v4l.launch): Standard
   [video4linux](http://en.wikipedia.org/wiki/Video4Linux)-based cameras like
   USB webcams.
     * ***GST-1.0:*** Use the roslaunch argument `GST10:=True` for GStreamer 1.0 variant
-* [Nodelet](examples/gscam_nodelet.launch): Run a V4L-based camera in a nodelet
-* [Video File](examples/videofile.launch): Any videofile readable by GStreamer
-* [DeckLink](examples/decklink.launch):
+* [Nodelet](launch/gscam_nodelet.launch): Run a V4L-based camera in a nodelet
+* [Video File](launch/videofile.launch): Any videofile readable by GStreamer
+* [DeckLink](launch/decklink.launch):
   [BlackMagic](http://www.blackmagicdesign.com/products/decklink/models)
   DeckLink SDI capture cards (note: this requires the `gst-plugins-bad` plugins)
+* [tdgigevsrc](launch/tdgigev.launch launch/tdgigev_bayer.launch) for GigeVision cameras.
+       This requires the Teledyne DALSA GigE-V Source plugin for gstreamer-1.0
+
diff --git a/examples/decklink.launch → launch/decklink.launch b/examples/decklink.launch → launch/decklink.launch
diff --git a/examples/gscam_nodelet.launch → launch/gscam_nodelet.launch b/examples/gscam_nodelet.launch → launch/gscam_nodelet.launch
diff --git a/examples/minoru.launch → launch/minoru.launch b/examples/minoru.launch → launch/minoru.launch
diff --git a/examples/nodelet_pipeline.launch → launch/nodelet_pipeline.launch b/examples/nodelet_pipeline.launch → launch/nodelet_pipeline.launch
diff --git a/examples/osx.launch → launch/osx.launch b/examples/osx.launch → launch/osx.launch
diff --git a/launch/tdgigev.launch b/launch/tdgigev.launch
@@ -0,0 +1,26 @@
+<launch>
+  <!-- This launchfile should bring up a node that broadcasts a ros image
+       transport on /gigev_cam#/image_raw -->
+
+  <!-- Select camera by Index or IP or SerialNumber or DeviceName feature (only one though) -->
+  <!-- Examples shown here...  
+            <arg name="GIGECAMID" default="cam-index=0"/>
+            <arg name="GIGECAMID" default="cam-ip=169:254:5:20"/>
+            <arg name="GIGECAMID" default="cam-sn=S1113716"/>
+            <arg name="GIGECAMID" default="cam-name=A0000546"/>
+       For multiple cameras - Remember to use unique node names in each launch file -->
+
+  <!-- The GStreamer framerate needs to be an integral fraction -->
+  <arg name="CAMINDEX" default="0"/>
+  <arg name="GIGECAMID" default="cam-index=$(arg CAMINDEX)"/>
+  <arg name="PUBLISH_FRAME" default="false"/>
+  <arg name="CFGFILE" default="false"/>
+
+  <node name="gscam" pkg="gscam" type="gscam" output="screen">
+    <param name="camera_name" value="/gigev_cam$(arg CAMINDEX)"/>
+    <param unless="$(arg CFGFILE)" name="gscam_config" value="tdgigevsrc $(arg GIGECAMID) bayer-as-mono=1 ! queue ! videoconvert"/>
+    <param if="$(arg CFGFILE)" name="gscam_config" value="tdgigevsrc $(arg GIGECAMID) cfg-file=$(arg CFGFILE) bayer-as-mono=1 ! queue ! videoconvert"/>
+    <param name="frame_id" value="default"/>
+    <param name="sync_sink" value="true"/>
+  </node>
+</launch>
diff --git a/launch/tdgigev_bayer.launch b/launch/tdgigev_bayer.launch
@@ -0,0 +1,27 @@
+<launch>
+  <!-- This launchfile should bring up a node that broadcasts a ros image
+       transport on /gigev_cam#/image_raw -->
+
+
+  <!-- Select camera by Index or IP or SerialNumber or DeviceName feature (only one though) -->
+  <!-- Examples shown here...  
+            <arg name="GIGECAMID" default="cam-index=0"/>
+            <arg name="GIGECAMID" default="cam-ip=169:254:5:20"/>
+            <arg name="GIGECAMID" default="cam-sn=S1113716"/>
+            <arg name="GIGECAMID" default="cam-name=A0000546"/>
+       For multiple cameras - Remember to use unique node names in each launch file -->
+
+  <!-- The GStreamer framerate needs to be an integral fraction -->
+  <arg name="CAMINDEX" default="0"/>
+  <arg name="GIGECAMID" default="cam-index=$(arg CAMINDEX)"/>
+  <arg name="PUBLISH_FRAME" default="false"/>
+  <arg name="CFGFILE" default="false"/>
+
+  <node name="gscam" pkg="gscam" type="gscam" output="screen">
+    <param name="camera_name" value="/gigev_cam$(arg CAMINDEX)"/>
+    <param unless="$(arg CFGFILE)" name="gscam_config" value="tdgigevsrc $(arg GIGECAMID) ! queue ! bayer2rgb ! videoconvert"/>
+    <param if="$(arg CFGFILE)" name="gscam_config" value="tdgigevsrc $(arg GIGECAMID) cfg-file=$(arg CFGFILE) ! queue ! bayer2rgb ! videoconvert"/>
+    <param name="frame_id" value="default"/>
+    <param name="sync_sink" value="true"/>
+  </node>
+</launch>
diff --git a/examples/v4l.launch → launch/v4l.launch b/examples/v4l.launch → launch/v4l.launch
diff --git a/examples/v4ljpeg.launch → launch/v4ljpeg.launch b/examples/v4ljpeg.launch → launch/v4ljpeg.launch
diff --git a/examples/videofile.launch → launch/videofile.launch b/examples/videofile.launch → launch/videofile.launch
diff --git a/src/gscam.cpp b/src/gscam.cpp
@@ -223,7 +223,14 @@ namespace gscam {
         jpeg_pub_ = nh_.advertise<sensor_msgs::CompressedImage>("camera/image_raw/compressed",1);
         cinfo_pub_ = nh_.advertise<sensor_msgs::CameraInfo>("camera/camera_info",1);
     } else {
-        camera_pub_ = image_transport_.advertiseCamera("camera/image_raw", 1);
+        if ( camera_name_.compare("default") ) {
+            std::string camname_;
+            camname_ = camera_name_ + "/image_raw"; 
+            camera_pub_ = image_transport_.advertiseCamera(camname_.c_str(), 1);
+        }
+        else {
+            camera_pub_ = image_transport_.advertiseCamera("camera/image_raw", 1);
+        }
     }
 
     return true;
@@ -291,16 +298,6 @@ namespace gscam {
       //         GST_TIME_AS_USECONDS(buf->timestamp+bt)/1e6+time_offset_, buf->timestamp, bt, time_offset_);
 
 
-#if 0
-      GstFormat fmt = GST_FORMAT_TIME;
-      gint64 current = -1;
-
-       Query the current position of the stream
-      if (gst_element_query_position(pipeline_, &fmt, &current)) {
-          ROS_INFO_STREAM("Position "<<current);
-      }
-#endif
-
       // Stop on end of stream
       if (!buf) {
         ROS_INFO("Stream ended.");
@@ -310,10 +307,10 @@ namespace gscam {
       // ROS_DEBUG("Got data.");
 
       // Get the image width and height
-      GstPad* pad = gst_element_get_static_pad(sink_, "sink");
 #if (GST_VERSION_MAJOR == 1)
-      const GstCaps *caps = gst_pad_get_current_caps(pad);
+      GstCaps *caps = gst_sample_get_caps(sample);
 #else
+      GstPad* pad = gst_element_get_static_pad(sink_, "sink");
       const GstCaps *caps = gst_pad_get_negotiated_caps(pad);
 #endif
       GstStructure *structure = gst_caps_get_structure(caps,0);
@@ -389,10 +386,18 @@ namespace gscam {
       // Release the buffer
       if(buf) {
 #if (GST_VERSION_MAJOR == 1)
+        // Unmap the memory
         gst_memory_unmap(memory, &info);
         gst_memory_unref(memory);
 #endif
-        gst_buffer_unref(buf);
+        // Do not unref the buffer obtained by gst_sample_get_buffer
+        // (We do not own the reference to it!)
+        // NO : gst_buffer_unref(buf);
+        //
+         // Release the sample
+         if (sample) {
+            gst_sample_unref(sample);
+         }
       }
 
       ros::spinOnce();