Ros2 rebased

.clang-tidy

@@ -0,0 +1,38 @@
+---
+Checks: >
+  clang-analyzer-*,
+  -clang-analyzer-optin.cplusplus.VirtualCall,
+  clang-diagnostic-*,
+  google-*,
+  misc-*,
+  -misc-non-private-member-variables-in-classes,
+  readability-*,
+  -readability-identifier-length,
+  -readability-magic-numbers,
+
+CheckOptions:
+  misc-include-cleaner.IgnoreHeaders: bits/chrono.h
+  readability-function-cognitive-complexity.IgnoreMacros: true
+  readability-identifier-naming.ClassCase: CamelCase
+  readability-identifier-naming.ClassMemberCase: lower_case
+  readability-identifier-naming.ConstexprVariableCase: CamelCase
+  readability-identifier-naming.EnumCase: CamelCase
+  readability-identifier-naming.EnumConstantCase: CamelCase
+  readability-identifier-naming.FunctionCase: lower_case
+  readability-identifier-naming.GlobalConstantCase: CamelCase
+  readability-identifier-naming.StaticConstantCase: lower_case
+  readability-identifier-naming.StaticVariableCase: lower_case
+  readability-identifier-naming.MacroDefinitionCase: UPPER_CASE
+  readability-identifier-naming.MacroDefinitionIgnoredRegexp: '^[A-Z]+(_[A-Z]+)*_$'
+  readability-identifier-naming.PrivateMemberCase: lower_case
+  readability-identifier-naming.ProtectedMemberCase: lower_case
+  readability-identifier-naming.PublicMemberCase: lower_case
+  readability-identifier-naming.PrivateMemberSuffix: _
+  readability-identifier-naming.ProtectedMemberSuffix: _
+  readability-identifier-naming.PublicMemberSuffix: ''
+  readability-identifier-naming.NamespaceCase: lower_case
+  readability-identifier-naming.ParameterCase: lower_case
+  readability-identifier-naming.TypeAliasCase: CamelCase
+  readability-identifier-naming.TypedefCase: CamelCase
+  readability-identifier-naming.VariableCase: lower_case
+  readability-identifier-naming.IgnoreMainLikeFunctions: true

.github/workflows/ci.yml

@@ -0,0 +1,28 @@
+name: CI
+
+on:
+  workflow_dispatch:
+  push:
+    branches-ignore:
+      - ros1*
+  pull_request:
+    branches-ignore:
+      - ros1*
+
+jobs:
+  industrial_ci:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble, jazzy, kilted, rolling]
+        ROS_REPO: [testing, main]
+    env:
+      ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+      ROS_REPO: ${{ matrix.ROS_REPO }}
+      CMAKE_ARGS: ${{ matrix.ROS_DISTRO == 'rolling' && '-DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DENABLE_CLANG_TIDY=ON' || '' }}
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+      - name: Source tests
+        uses: "ros-industrial/industrial_ci@master"

AUTHORS.md

@@ -1,9 +1,8 @@
-Original Authors
-----------------
+# Original Authors
 
- * Mitchell Wills (mwills@wpi.edu)
+ * Mitchell Wills <mwills@wpi.edu>
 
-Contributors
-------------
+# Contributors
 
- * [Russell Toris](http://users.wpi.edu/~rctoris/) (rctoris@wpi.edu)
+ * Russell Toris <rctoris@wpi.edu>
+ * Błażej Sowa <blazej@fictionlab.pl>

CHANGELOG.rst

@@ -2,6 +2,59 @@
 Changelog for package web_video_server
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.0 (2026-01-30)
+------------------
+* refactor: Add clang-tidy checks (#195)
+* feat: Use pluginlib to load streamer plugins at runtime, general refactor (#192)
+* Contributors: Błażej Sowa
+
+2.1.1 (2025-09-02)
+------------------
+* Fix build with the current FFmpeg avformat (#190)
+* Update package.xml to include necessary lib boost (#186)
+* Add Kilted workflow (#183)
+* Fix -Wmaybe-uninitialized warning (#185)
+* Contributors: Błażej Sowa, Fabian Freihube, Janosch Machowinski, Alexis Tsogias, Julian Francis
+
+2.1.0 (2025-05-21)
+------------------
+* Use target_link_libraries instead of ament_target_dependencies (#182)
+* Fix compile warnings (#176)
+* Use chrono steady clock for frame timing (#173)
+* Add pkg-config dependency (#175)
+* Separate web_video_server into a component and an executable (#168)
+* Contributors: Błażej Sowa, Fabian Freihube, Joe Dinius, Ph.D., Lars Lorentz Ludvigsen, Mat198
+
+2.0.1 (2024-10-26)
+------------------
+* Add ros_environment to test dependencies (#166)
+* Contributors: Błażej Sowa
+
+2.0.0 (2024-10-11)
+------------------
+* Replace boost with std (#164)
+* Add ament_cpplint test, resolve TODOs (#162)
+* Add license headers to all C++ source files, update copyrights (#161)
+* Add support for alpha pngs by adding per stream type decode functions (backport #106) (#163)
+* Add link to /stream in stream list (backport #118) (#160)
+* Add support for jpg compression format (backport #142) (#159)
+* Reformat the code with uncrustify (#158)
+* Use hpp extension for headers (#157)
+* Fix request logging, remove global parameters (#156)
+* Replace nh with node (#155)
+* Fix declaring and retrieving node parameters (#154)
+* Fix usage of deprecated libavcodec functions (#150)
+* Use cv_bridge hpp headers when available (#149)
+* Use target_link_libraries instead of ament_target_dependencies where applicable
+* Don't install headers
+* Add CI workflow and ament_lint tests (#148)
+* Update package maintainer
+* allow topic searches to continue past invalid multi-type topics. (#146)
+* Add QoS profile query parameters (#133)
+* Fix build for ROS2 Humble (#129)
+* Fix build for ROS2 Foxy (#111)
+* Contributors: Błażej Sowa, Domenic Rodriguez, Robert Brothers, Sebastian Castro, Tina Tian, TobinHall, Matthew Bries
+
 1.0.0 (2019-09-20)
 ------------------
 * Port to ROS 2

CMakeLists.txt

@@ -1,16 +1,23 @@
 cmake_minimum_required(VERSION 3.5)
 project(web_video_server)
 
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(async_web_server_cpp REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(image_transport REQUIRED)
+find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rmw REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
 find_package(OpenCV REQUIRED)
-find_package(Boost REQUIRED COMPONENTS thread)
+find_package(Boost REQUIRED COMPONENTS system)
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(avcodec libavcodec REQUIRED)
@@ -30,54 +37,148 @@ endif()
 ## Build ##
 ###########
 
-## Specify additional locations of header files
-include_directories(include
-  ${Boost_INCLUDE_DIRS}
-  ${avcodec_INCLUDE_DIRS}
-  ${avformat_INCLUDE_DIRS}
-  ${avutil_INCLUDE_DIRS}
-  ${swscale_INCLUDE_DIRS}
-)
+if(${cv_bridge_VERSION} VERSION_LESS "3.3.0")
+  add_compile_definitions(CV_BRIDGE_USES_OLD_HEADERS)
+endif()
 
-## Declare a cpp executable
-add_executable(${PROJECT_NAME}
+## Declare a cpp library
+add_library(${PROJECT_NAME} SHARED
   src/web_video_server.cpp
-  src/image_streamer.cpp
-  src/libav_streamer.cpp
-  src/vp8_streamer.cpp
-  src/h264_streamer.cpp
-  src/vp9_streamer.cpp
   src/multipart_stream.cpp
-  src/ros_compressed_streamer.cpp
-  src/jpeg_streamers.cpp
-  src/png_streamers.cpp
+  src/streamer.cpp
+  src/utils.cpp
 )
 
-ament_target_dependencies(${PROJECT_NAME}
-  async_web_server_cpp cv_bridge image_transport rclcpp sensor_msgs)
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
-  ${Boost_LIBRARIES}
+  PUBLIC
+    async_web_server_cpp::async_web_server_cpp
+    pluginlib::pluginlib
+    rclcpp::rclcpp
+    rmw::rmw
+    Boost::boost
+  PRIVATE
+    rclcpp_components::component
+)
+
+add_library(${PROJECT_NAME}_streamers SHARED
+  src/streamers/image_transport_streamer.cpp
+  src/streamers/libav_streamer.cpp
+  src/streamers/h264_streamer.cpp
+  src/streamers/jpeg_streamers.cpp
+  src/streamers/png_streamers.cpp
+  src/streamers/ros_compressed_streamer.cpp
+  src/streamers/vp8_streamer.cpp
+  src/streamers/vp9_streamer.cpp
+)
+
+target_include_directories(${PROJECT_NAME}_streamers
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    ${avcodec_INCLUDE_DIRS}
+    ${avformat_INCLUDE_DIRS}
+    ${avutil_INCLUDE_DIRS}
+    ${swscale_INCLUDE_DIRS}
+)
+
+target_link_libraries(${PROJECT_NAME}_streamers
+  ${PROJECT_NAME}
+  async_web_server_cpp::async_web_server_cpp
+  cv_bridge::cv_bridge
+  image_transport::image_transport
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
+  Boost::boost
+  Boost::system
   ${OpenCV_LIBS}
   ${avcodec_LIBRARIES}
   ${avformat_LIBRARIES}
   ${avutil_LIBRARIES}
   ${swscale_LIBRARIES}
 )
 
+## Declare a cpp executable
+add_executable(${PROJECT_NAME}_node
+  src/web_video_server_node.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME}
+)
+
+rclcpp_components_register_nodes(${PROJECT_NAME} "web_video_server::WebVideoServer")
+
+pluginlib_export_plugin_description_file(web_video_server plugins.xml)
+
 #############
 ## Install ##
 #############
 
-## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
-  DESTINATION lib/${PROJECT_NAME}
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+install(
+  TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_streamers
+  EXPORT export_${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  async_web_server_cpp
+  cv_bridge
+  image_transport
+  pluginlib
+  rclcpp
+  rmw
+  sensor_msgs
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-   DESTINATION include/${PROJECT_NAME}
-   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
+install(
+  TARGETS ${PROJECT_NAME}_node
+  DESTINATION lib/${PROJECT_NAME}
 )
 
-ament_package()
+###########
+## Tests ##
+###########
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+
+  # Skip ament_copyright check for humble
+  if($ENV{ROS_DISTRO} STREQUAL "humble")
+    list(APPEND AMENT_LINT_AUTO_EXCLUDE
+      ament_cmake_copyright
+    )
+  endif()
+
+  option(ENABLE_CLANG_TIDY "Enable ament_clang_tidy test" OFF)
+  if(ENABLE_CLANG_TIDY)
+    include(ProcessorCount)
+    processorcount(N)
+    set(ament_cmake_clang_tidy_JOBS ${N})
+  else()
+    list(APPEND AMENT_LINT_AUTO_EXCLUDE
+      ament_cmake_clang_tidy
+    )
+  endif()
+
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+  CONFIG_EXTRAS "config-extras.cmake"
+)

CONTRIBUTING.md

@@ -0,0 +1,3 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).