adjust to latest image transport API changes

Author: berndpfrommer

CMakeLists.txt

@@ -15,8 +15,12 @@ endif()
 if(DEFINED ENV{ROS_DISTRO})
   if($ENV{ROS_DISTRO} STREQUAL "foxy" OR
       $ENV{ROS_DISTRO} STREQUAL "galactic")
-    add_definitions(-DUSE_OLD_IMAGE_TRANSPORT_API)
-  endif()
+      add_definitions(-DIMAGE_TRANSPORT_API_V1)
+    elseif($ENV{ROS_DISTRO} STREQUAL "humble")
+      add_definitions(-DIMAGE_TRANSPORT_API_V2)
+    else()
+      add_definitions(-DIMAGE_TRANSPORT_API_V3)
+    endif()
 else()
   message(ERROR "ROS_DISTRO environment variable is not set!")
 endif()

README.md

@@ -17,7 +17,12 @@ and therefore must be installed on both sides to be useful.
 
 ## Supported systems
 
-Tested on Ubuntu 20.04 and ROS2 Galactic.
+Tested on:
+
+- Ubuntu 20.04 and ROS2 Galactic
+- Ubuntu 22.04 and ROS2 Humble
+
+Should also compile under ROS2 Iron.
 
 ## Installation
 

include/ffmpeg_image_transport/ffmpeg_publisher.hpp

@@ -34,13 +34,19 @@ class FFMPEGPublisher : public FFMPEGPublisherPlugin
   std::string getTransportName() const override { return "ffmpeg"; }
 
 protected:
+#if defined(IMAGE_TRANSPORT_API_V1) || defined(IMAGE_TRANSPORT_API_V2)
   void advertiseImpl(
     rclcpp::Node * node, const std::string & base_topic, rmw_qos_profile_t custom_qos) override;
-
+#else
+  void advertiseImpl(
+    rclcpp::Node * node, const std::string & base_topic, rmw_qos_profile_t custom_qos,
+    rclcpp::PublisherOptions opt) override;
+#endif
   void publish(const Image & message, const PublishFn & publish_fn) const override;
 
 private:
   void packetReady(const FFMPEGPacketConstPtr & pkt);
+  rmw_qos_profile_t initialize(rclcpp::Node * node, rmw_qos_profile_t custom_qos);
   // variables ---------
   rclcpp::Logger logger_;
   const PublishFn * publishFunction_{NULL};

include/ffmpeg_image_transport/ffmpeg_subscriber.hpp

@@ -36,17 +36,15 @@ class FFMPEGSubscriber : public FFMPEGSubscriberPlugin
 
 protected:
   void internalCallback(const FFMPEGPacketConstPtr & msg, const Callback & user_cb) override;
+
+#ifdef IMAGE_TRANSPORT_API_V1
   void subscribeImpl(
     rclcpp::Node * node, const std::string & base_topic, const Callback & callback,
     rmw_qos_profile_t custom_qos) override;
-
-#ifndef USE_OLD_IMAGE_TRANSPORT_API
+#else
   void subscribeImpl(
     rclcpp::Node * node, const std::string & base_topic, const Callback & callback,
-    rmw_qos_profile_t custom_qos, rclcpp::SubscriptionOptions) override
-  {
-    subscribeImpl(node, base_topic, callback, custom_qos);
-  }
+    rmw_qos_profile_t custom_qos, rclcpp::SubscriptionOptions) override;
 #endif
 
 private:

package.xml

@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <buildtool_depend>ament_cmake_clang_format</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
+  <buildtool_depend>ros_environment</buildtool_depend>
 
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>

src/ffmpeg_publisher.cpp

@@ -27,8 +27,24 @@ FFMPEGPublisher::~FFMPEGPublisher() {}
 
 void FFMPEGPublisher::packetReady(const FFMPEGPacketConstPtr & pkt) { (*publishFunction_)(*pkt); }
 
+#if defined(IMAGE_TRANSPORT_API_V1) || defined(IMAGE_TRANSPORT_API_V2)
 void FFMPEGPublisher::advertiseImpl(
   rclcpp::Node * node, const std::string & base_topic, rmw_qos_profile_t custom_qos)
+{
+  auto qos = initialize(node, custom_qos);
+  FFMPEGPublisherPlugin::advertiseImpl(node, base_topic, qos);
+}
+#else
+void FFMPEGPublisher::advertiseImpl(
+  rclcpp::Node * node, const std::string & base_topic, rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions opt)
+{
+  auto qos = initialize(node, custom_qos);
+  FFMPEGPublisherPlugin::advertiseImpl(node, base_topic, qos, opt);
+}
+#endif
+
+rmw_qos_profile_t FFMPEGPublisher::initialize(rclcpp::Node * node, rmw_qos_profile_t custom_qos)
 {
   encoder_.setParameters(node);
   const std::string ns = "ffmpeg_image_transport.";
@@ -38,8 +54,7 @@ void FFMPEGPublisher::advertiseImpl(
 
   // bump queue size to 2 * distance between keyframes
   custom_qos.depth = std::max(static_cast<int>(custom_qos.depth), 2 * encoder_.getGOPSize());
-
-  FFMPEGPublisherPlugin::advertiseImpl(node, base_topic, custom_qos);
+  return (custom_qos);
 }
 
 void FFMPEGPublisher::publish(const Image & msg, const PublishFn & publish_fn) const

src/ffmpeg_subscriber.cpp

@@ -39,13 +39,28 @@ FFMPEGSubscriber::~FFMPEGSubscriber() {}
 
 void FFMPEGSubscriber::frameReady(const ImageConstPtr & img, bool) const { (*userCallback_)(img); }
 
+#ifdef IMAGE_TRANSPORT_API_V1
 void FFMPEGSubscriber::subscribeImpl(
   rclcpp::Node * node, const std::string & base_topic, const Callback & callback,
   rmw_qos_profile_t custom_qos)
 {
   initialize(node);
   FFMPEGSubscriberPlugin::subscribeImpl(node, base_topic, callback, custom_qos);
 }
+#else
+void FFMPEGSubscriber::subscribeImpl(
+  rclcpp::Node * node, const std::string & base_topic, const Callback & callback,
+  rmw_qos_profile_t custom_qos, rclcpp::SubscriptionOptions opt)
+{
+  initialize(node);
+#ifdef IMAGE_TRANSPORT_API_V2
+  (void)opt;  // to suppress compiler warning
+  FFMPEGSubscriberPlugin::subscribeImpl(node, base_topic, callback, custom_qos);
+#else
+  FFMPEGSubscriberPlugin::subscribeImpl(node, base_topic, callback, custom_qos, opt);
+#endif
+}
+#endif
 
 void FFMPEGSubscriber::initialize(rclcpp::Node * node)
 {