Mirror/ros_rtsp
5
0
Fork 0
mirror of https://github.com/CircusMonkey/ros_rtsp.git synced 2025-01-28 10:48:21 -04:00
Code Issues Packages Projects Releases Wiki Activity

Add option for custom port and fix indentation

Browse Source
This commit is contained in:
George Kouros 2020-02-21 14:26:09 +01:00
parent 978484a774
commit 75290a64bc
6 changed files with 253 additions and 248 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
config/stream_setup.yaml
View File

@ -1,4 +1,5 @@
# Set up your streams to rtsp here. # Set up your streams to rtsp here.
port: "8554"
streams: # Cannot rename - must leave this as is. streams: # Cannot rename - must leave this as is.
stream-x: stream-x:

3
include/image2rtsp.h
View File

@ -12,6 +12,7 @@ namespace image2rtsp {
void print_error(char *s); void print_error(char *s);
private: private:
std::string port;
std::map<std::string, ros::Subscriber> subs; std::map<std::string, ros::Subscriber> subs;
std::map<std::string, GstAppSrc*> appsrc; std::map<std::string, GstAppSrc*> appsrc;
std::map<std::string, int> num_of_clients; std::map<std::string, int> num_of_clients;
@ -19,7 +20,7 @@ namespace image2rtsp {
void imageCallback(const sensor_msgs::Image::ConstPtr& msg, const std::string& topic); void imageCallback(const sensor_msgs::Image::ConstPtr& msg, const std::string& topic);
void video_mainloop_start(); void video_mainloop_start();
void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc); void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc);
GstRTSPServer *rtsp_server_create(); GstRTSPServer *rtsp_server_create(const std::string& port);
}; };
} }

10
src/image2rtsp.cpp
View File

@ -28,15 +28,15 @@ void Image2RTSPNodelet::onInit() {
ros::NodeHandle& nh = getPrivateNodeHandle(); ros::NodeHandle& nh = getPrivateNodeHandle();
video_mainloop_start();
rtsp_server = rtsp_server_create();
// Get the parameters from the rosparam server // Get the parameters from the rosparam server
XmlRpc::XmlRpcValue streams; XmlRpc::XmlRpcValue streams;
nh.getParam("streams", streams); nh.getParam("streams", streams);
ROS_ASSERT(streams.getType() == XmlRpc::XmlRpcValue::TypeStruct); ROS_ASSERT(streams.getType() == XmlRpc::XmlRpcValue::TypeStruct);
ROS_DEBUG("Number of RTSP streams: %d", streams.size()); ROS_DEBUG("Number of RTSP streams: %d", streams.size());
nh.getParam("port", this->port);
video_mainloop_start();
rtsp_server = rtsp_server_create(port);
// Go through and parse each stream // Go through and parse each stream
for(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = streams.begin(); it != streams.end(); ++it) for(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = streams.begin(); it != streams.end(); ++it)
@ -74,7 +74,7 @@ void Image2RTSPNodelet::onInit() {
{ {
ROS_ERROR("Undefined stream type. Check your stream_setup.yaml file."); ROS_ERROR("Undefined stream type. Check your stream_setup.yaml file.");
} }
NODELET_INFO("Stream available at rtsp://%s:8554%s", gst_rtsp_server_get_address(rtsp_server), mountpoint.c_str()); NODELET_INFO("Stream available at rtsp://%s:%s%s", gst_rtsp_server_get_address(rtsp_server), port.c_str(), mountpoint.c_str());
} }
} }

5
src/video.cpp
View File

@ -73,12 +73,15 @@ static gboolean session_cleanup(Image2RTSPNodelet *nodelet, gboolean ignored)
return TRUE; return TRUE;
} }
GstRTSPServer *Image2RTSPNodelet::rtsp_server_create() { GstRTSPServer *Image2RTSPNodelet::rtsp_server_create(const std::string& port) {
GstRTSPServer *server; GstRTSPServer *server;
/* create a server instance */ /* create a server instance */
server = gst_rtsp_server_new(); server = gst_rtsp_server_new();
// char *port = (char *) port;
g_object_set(server, "service", port.c_str(), NULL);
/* attach the server to the default maincontext */ /* attach the server to the default maincontext */
gst_rtsp_server_attach(server, NULL); gst_rtsp_server_attach(server, NULL);