From bb9d26cf9d57c1f658bf00b672dacf60e355fdc1 Mon Sep 17 00:00:00 2001 From: Hilary Luo Date: Tue, 1 Oct 2024 20:53:49 -0400 Subject: [PATCH] Initial sensor utils for best effort ffmpeg decoding --- turtlebot4_sensor_utils/CMakeLists.txt | 37 ++++ turtlebot4_sensor_utils/LICENSE | 202 ++++++++++++++++++ turtlebot4_sensor_utils/package.xml | 22 ++ .../src/image_republish.cpp | 101 +++++++++ 4 files changed, 362 insertions(+) create mode 100644 turtlebot4_sensor_utils/CMakeLists.txt create mode 100644 turtlebot4_sensor_utils/LICENSE create mode 100644 turtlebot4_sensor_utils/package.xml create mode 100644 turtlebot4_sensor_utils/src/image_republish.cpp diff --git a/turtlebot4_sensor_utils/CMakeLists.txt b/turtlebot4_sensor_utils/CMakeLists.txt new file mode 100644 index 0000000..78f78af --- /dev/null +++ b/turtlebot4_sensor_utils/CMakeLists.txt @@ -0,0 +1,37 @@ +cmake_minimum_required(VERSION 3.8) +project(turtlebot4_sensor_utils) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(image_transport REQUIRED) +find_package(pluginlib REQUIRED) +find_package(rclcpp REQUIRED) + +add_executable(image_republish src/image_republish.cpp) +target_include_directories(image_republish PUBLIC + $ + $) +target_compile_features(image_republish PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 + +ament_target_dependencies(image_republish rclcpp image_transport pluginlib) + +install(TARGETS image_republish + DESTINATION lib/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/turtlebot4_sensor_utils/LICENSE b/turtlebot4_sensor_utils/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/turtlebot4_sensor_utils/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/turtlebot4_sensor_utils/package.xml b/turtlebot4_sensor_utils/package.xml new file mode 100644 index 0000000..0553c45 --- /dev/null +++ b/turtlebot4_sensor_utils/package.xml @@ -0,0 +1,22 @@ + + + + turtlebot4_sensor_utils + 0.0.0 + TODO: Package description + hluo + Apache-2.0 + + ament_cmake + + image_transport + pluginlib + rclcpp + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/turtlebot4_sensor_utils/src/image_republish.cpp b/turtlebot4_sensor_utils/src/image_republish.cpp new file mode 100644 index 0000000..d8d19be --- /dev/null +++ b/turtlebot4_sensor_utils/src/image_republish.cpp @@ -0,0 +1,101 @@ +// Copyright (c) 2009, Willow Garage, Inc. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the Willow Garage nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +#include +#include +#include + +#include + +#include "rclcpp/qos.hpp" +#include "rclcpp/rclcpp.hpp" + +#include "image_transport/image_transport.hpp" +#include "image_transport/publisher_plugin.hpp" + +int main(int argc, char ** argv) +{ + auto vargv = rclcpp::init_and_remove_ros_arguments(argc, argv); + + if (vargv.size() < 2) { + printf( + "Usage: %s in_transport in:= [out_transport] out:=\n", + argv[0]); + return 0; + } + + auto node = rclcpp::Node::make_shared("image_republisher"); + + std::string in_topic = rclcpp::expand_topic_or_service_name( + "in", + node->get_name(), node->get_namespace()); + std::string out_topic = rclcpp::expand_topic_or_service_name( + "out", + node->get_name(), node->get_namespace()); + + std::string in_transport = vargv[1]; + + if (vargv.size() < 3) { + // Use all available transports for output + auto pub = image_transport::create_publisher(node.get(), out_topic); + + // Use Publisher::publish as the subscriber callback + typedef void (image_transport::Publisher::* PublishMemFn)( + const sensor_msgs::msg::Image::ConstSharedPtr &) const; + PublishMemFn pub_mem_fn = &image_transport::Publisher::publish; + + auto sub = image_transport::create_subscription( + node.get(), in_topic, + std::bind(pub_mem_fn, &pub, std::placeholders::_1), in_transport, + rmw_qos_profile_sensor_data); + // rclcpp::QoS(rclcpp::KeepLast(1), rmw_qos_profile_sensor_data)); + rclcpp::spin(node); + } else { + // Use one specific transport for output + std::string out_transport = vargv[2]; + + // Load transport plugin + typedef image_transport::PublisherPlugin Plugin; + pluginlib::ClassLoader loader("image_transport", "image_transport::PublisherPlugin"); + std::string lookup_name = Plugin::getLookupName(out_transport); + + auto instance = loader.createUniqueInstance(lookup_name); + std::shared_ptr pub = std::move(instance); + pub->advertise(node.get(), out_topic); + + // Use PublisherPlugin::publish as the subscriber callback + typedef void (Plugin::* PublishMemFn)(const sensor_msgs::msg::Image::ConstSharedPtr &) const; + PublishMemFn pub_mem_fn = &Plugin::publishPtr; + auto sub = image_transport::create_subscription( + node.get(), in_topic, + std::bind(pub_mem_fn, pub.get(), std::placeholders::_1), in_transport); + rclcpp::spin(node); + } + + return 0; +} \ No newline at end of file