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improve info messages on startup, remove usb_cam node from launch

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This commit is contained in:
Sam Armstrong 2018-09-28 10:44:22 +10:00
parent 9948cdb999
commit a204ca7d26
3 changed files with 15 additions and 25 deletions
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11
launch/rtsp_streams.launch Normal file
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@ -0,0 +1,11 @@
<launch>
<!-- Start the RTSP server -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="Image2RTSPNodelet" args="load image2rtsp/Image2RTSPNodelet standalone_nodelet" output="screen">
<!-- Read the stream setup file -->
<rosparam command="load" file="$(find ros_rtsp)/config/stream_setup.yaml" />
</node>
</launch>

22
launch/test_rtsp.launch
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@ -1,22 +0,0 @@
<launch>
<!-- Start the image publisher/s if required -->
<node name="usb_cam1" pkg="usb_cam" type="usb_cam_node" output="screen" >
<param name="video_device" value="/dev/video1" />
<param name="image_width" value="640" />
<param name="image_height" value="480" />
<param name="pixel_format" value="yuyv" />
<param name="camera_frame_id" value="yuyv" />
<param name="io_method" value="mmap"/>
<param name="autofocus" value="true"/>
</node>
<!-- Start the RTSP server -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="Image2RTSPNodelet" args="load image2rtsp/Image2RTSPNodelet standalone_nodelet" output="screen">
<rosparam command="load" file="$(find ros_rtsp)/config/stream_setup.yaml" />
</node>
</launch>

7
src/image2rtsp.cpp
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@ -23,7 +23,7 @@ void Image2RTSPNodelet::onInit() {
if (getenv((char*)"GST_DEBUG") == NULL) {
// set GST_DEBUG to warning if unset
putenv((char*)"GST_DEBUG=*:2");
putenv((char*)"GST_DEBUG=*:1");
}
ros::NodeHandle& nh = getPrivateNodeHandle();
@ -36,13 +36,13 @@ void Image2RTSPNodelet::onInit() {
nh.getParam("streams", streams);
ROS_ASSERT(streams.getType() == XmlRpc::XmlRpcValue::TypeStruct);
ROS_INFO("Number of RTSP streams: %d", streams.size());
ROS_DEBUG("Number of RTSP streams: %d", streams.size());
// Go through and parse each stream
for(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = streams.begin(); it != streams.end(); ++it)
{
XmlRpc::XmlRpcValue stream = streams[it->first];
ROS_INFO_STREAM("Found stream: " << (std::string)(it->first) << " ==> " << stream);
ROS_DEBUG_STREAM("Found stream: " << (std::string)(it->first) << " ==> " << stream);
// Convert to string for ease of use
mountpoint = static_cast<std::string>(stream["mountpoint"]);
@ -74,6 +74,7 @@ void Image2RTSPNodelet::onInit() {
{
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());
}
}