Intermodalics · meyerj · May 7, 2015 · May 7, 2015 · May 7, 2015 · Jun 2, 2015
diff --git a/.travis.yml b/.travis.yml
@@ -1,29 +1,39 @@
-language:
-  - cpp
-  - python
+# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
+# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
+
+services:
+  - docker
+language: generic
 python:
   - "2.7"
 compiler:
   - gcc
 
+notifications:
+  email:
+    on_success: always
+    on_failure: always
+
+env:
+  matrix:
+    - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=xenial
+    - ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=bionic
+    - ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=stretch
+
+matrix:
+  allow_failures:
+    - env: ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=stretch
+
+      #- env: ROS_DISTRO="kinetic"   PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=0
+      #- env: ROS_DISTRO="melodic"   PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=0
+
 branches:
   only:
     - master
     - develop
 
 install:
-  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
-  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-  - sudo apt-get update -qq
-  - sudo apt-get install python-catkin-pkg python-rosdep ros-groovy-catkin ros-hydro-catkin -qq
-  - sudo rosdep init
-  - rosdep update
-  - mkdir -p /tmp/ws/src
-  - ln -s `pwd` /tmp/ws/src/package
-  - cd /tmp/ws
-  - rosdep install --from-paths src --ignore-src --rosdistro hydro -y
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci
 
 script:
-  - source /opt/ros/hydro/setup.bash
-  - catkin_make
-  - catkin_make install
+  - source .industrial_ci/travis.sh
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,116 @@
 Changelog for package web_video_server
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.2 (2021-07-23)
+------------------
+* fix vp9 and h264, support for opencv4 and ffmpeg 4 (`#103 <https://github.com/RobotWebTools/web_video_server/issues/103>`_)
+* add a mention of mjpegcanvasjs in the readme (`#100 <https://github.com/RobotWebTools/web_video_server/issues/100>`_)
+* fix multipart_stream.cpp HttpHeader values in order to solve DOMException(cross origin) CORS issue (`#92 <https://github.com/RobotWebTools/web_video_server/issues/92>`_)
+* Contributors: Gady, okapi1125, randoms
+
+0.2.1 (2019-06-05)
+------------------
+* Restream buffered frames with minimum publish rate (`#88 <https://github.com/RobotWebTools/web_video_server/issues/88>`_)
+  * Restream buffered frames with minimum publish rate
+  * Implement restreaming for ros_compressed_streamer
+* Update travis config (`#89 <https://github.com/RobotWebTools/web_video_server/issues/89>`_)
+* Fall back to mjpeg if ros_compressed is unavailable (`#87 <https://github.com/RobotWebTools/web_video_server/issues/87>`_)
+* Contributors: Jihoon Lee, Viktor Kunovski, sfalexrog
+
+0.2.0 (2019-01-30)
+------------------
+* Add "default_stream_type" parameter (`#84 <https://github.com/RobotWebTools/web_video_server/issues/84>`_)
+  This allows users to specify default stream type in their .launch files. Using a "ros_compressed" stream type sometimes
+  results in a much lower resource consumption, and having it set as a default is much nicer for end users.
+* Add a workaround for MultipartStream constant busy state (`#83 <https://github.com/RobotWebTools/web_video_server/issues/83>`_)
+  * Add a workaround for MultipartStream constant busy state
+  * Remove C++11 features
+* lax rule for topic name (`#77 <https://github.com/RobotWebTools/web_video_server/issues/77>`_)
+* Add PngStreamer (`#74 <https://github.com/RobotWebTools/web_video_server/issues/74>`_)
+* fix SteadyTimer check for backported ROS versions (`#71 <https://github.com/RobotWebTools/web_video_server/issues/71>`_)
+  i.e. on current kinetic
+* Pkg format 2 (`#68 <https://github.com/RobotWebTools/web_video_server/issues/68>`_)
+  * use package format 2
+  * add missing dependency on sensor_msgs
+* fixed undeclared CODEC_FLAG_GLOBAL_HEADER (`#65 <https://github.com/RobotWebTools/web_video_server/issues/65>`_)
+* Contributors: Andreas Klintberg, Dirk Thomas, Felix Ruess, Kazuto Murase, Viktor Kunovski, sfalexrog
+
+0.1.0 (2018-07-01)
+------------------
+* Avoid queuing of images on slow ethernet connection (`#64 <https://github.com/RobotWebTools/web_video_server/issues/64>`_)
+* use SteadyTimer (if available) for cleaning up inactive streams (`#63 <https://github.com/RobotWebTools/web_video_server/issues/63>`_)
+  * use SteadyTimer for cleaning up inactive streams
+  so that cleanup works correctly even if system time changes
+  SteadyTimer is available since roscpp 1.13.1
+  * possibility to use SteadyTimer on older ROS versions
+  when SteadyTimer has been backported to those...
+* Fix segfault in libav_streamer destructor (resolves `#59 <https://github.com/RobotWebTools/web_video_server/issues/59>`_) (`#60 <https://github.com/RobotWebTools/web_video_server/issues/60>`_)
+* Fix vp8 in kinetic add vp9 and h264 support (`#52 <https://github.com/RobotWebTools/web_video_server/issues/52>`_)
+  * fix vp8 in kinetic
+  * add h264 and vp9 support
+* Add Indigo test matrix in travis configuration (`#50 <https://github.com/RobotWebTools/web_video_server/issues/50>`_)
+* Set image streamer as inactive if topic is not available (`#53 <https://github.com/RobotWebTools/web_video_server/issues/53>`_)
+  * Resolves `#38 <https://github.com/RobotWebTools/web_video_server/issues/38>`_
+* Fix Build for ubuntu 14.04 (`#48 <https://github.com/RobotWebTools/web_video_server/issues/48>`_)
+  * fix issue `#47 <https://github.com/RobotWebTools/web_video_server/issues/47>`_
+  * fix double free
+* Revert "use SteadyTimer for cleaning up inactive streams (`#45 <https://github.com/RobotWebTools/web_video_server/issues/45>`_)" (`#51 <https://github.com/RobotWebTools/web_video_server/issues/51>`_)
+  This reverts commit ae74f19ada22f288a7c7a99ada7a1b9b6037c7ce.
+* use SteadyTimer for cleaning up inactive streams (`#45 <https://github.com/RobotWebTools/web_video_server/issues/45>`_)
+  so that cleanup works correctly even if system time changes
+* Use trusty instead of xenial.  See `travis-ci/travis-ci#7260 <https://github.com/travis-ci/travis-ci/issues/7260>`_ (`#49 <https://github.com/RobotWebTools/web_video_server/issues/49>`_)
+  * Also see `RobotWebTools/rosbridge_suite#311 <https://github.com/RobotWebTools/rosbridge_suite/issues/311>`_
+* Contributors: Felix Ruess, James Bailey, Jihoon Lee, randoms, schallerr
+
+0.0.7 (2017-11-20)
+------------------
+* Ffmpeg 3 (`#43 <https://github.com/RobotWebTools/web_video_server/issues/43>`_)
+  * Correct use of deprecated parameters
+  codec_context\_->rc_buffer_aggressivity marked as "currently useless", so removed
+  codec_context\_->frame_skip_threshold access through new priv_data api
+  * New names for pixel formats
+  * AVPicture is deprecated, use AVFrame
+  * Switch to non-deprecated free functions
+  * Use new encoding api for newer versions
+  * codec_context is deprecated, use packet flags
+* Update travis configuration to test against kinetic (`#44 <https://github.com/RobotWebTools/web_video_server/issues/44>`_)
+* fixed misuse of remove_if (`#35 <https://github.com/RobotWebTools/web_video_server/issues/35>`_)
+* Merge pull request `#33 <https://github.com/RobotWebTools/web_video_server/issues/33>`_ from achim-k/patch-1
+  web_video_server: fix bool function not returning
+  This fix is required when compiling the package with `clang`. Otherwise a SIGILL (Illegal instruction) is triggered.
+* Contributors: Hans-Joachim Krauch, Jan, Jihoon Lee, russelhowe
+
+0.0.6 (2017-01-17)
+------------------
+* Fixed topic list to display all image topics, fixing Issue `#18 <https://github.com/RobotWebTools/web_video_server/issues/18>`_.
+* Contributors: Eric
+
+0.0.5 (2016-10-13)
+------------------
+* Merge pull request `#23 <https://github.com/RobotWebTools/web_video_server/issues/23>`_ from iki-wgt/develop
+  More information when server creation is failed
+* Removed empty line
+* More detailed exception message
+  Programm behavior is not changed since the exception is rethrown.
+* Contributors: BennyRe, Russell Toris
+
+0.0.4 (2015-08-18)
+------------------
+* Merge pull request #16 from mitchellwills/compressed
+  Adds support for streaming ROS compressed image topics without the need to reencode them
+* Switch to checkout async_web_server_cpp from source
+* Upgrade for change in signature of async_web_server_cpp request handler
+* Added ros compressed video streamer type
+  This directly passes the ros compressed frame data to the http socket without reencoding it
+* Switched from passing image transport to passing node handle to streamer constructors
+* Added default transport parameter for regular image streamers
+* Contributors: Mitchell Wills, Russell Toris
+
+0.0.3 (2015-05-07)
+------------------
+* added verbose flag
+* Contributors: Russell Toris
+
 0.0.2 (2015-02-20)
 ------------------
 * Merge pull request #10 from mitchellwills/develop

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,7 +4,7 @@ project(web_video_server)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp roslib cv_bridge image_transport async_web_server_cpp)
+find_package(catkin REQUIRED COMPONENTS roscpp roslib cv_bridge image_transport async_web_server_cpp sensor_msgs)
 find_package(OpenCV REQUIRED)
 find_package(Boost REQUIRED COMPONENTS thread)
 
@@ -43,7 +43,13 @@ add_executable(${PROJECT_NAME}
   src/image_streamer.cpp
   src/libav_streamer.cpp
   src/vp8_streamer.cpp
-  src/jpeg_streamers.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
+)
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}

diff --git a/README.md b/README.md
@@ -7,6 +7,7 @@ This node combines the capabilities of [ros_web_video](https://github.com/RobotW
 For full documentation, see [the ROS wiki](http://ros.org/wiki/web_video_server).
 
 [Doxygen](http://docs.ros.org/indigo/api/web_video_server/html/) files can be found on the ROS wiki.
+[mjpegcanvasjs](https://github.com/rctoris/mjpegcanvasjs) can be used to display a MJPEG stream from the ROS web_video_server
 
 This project is released as part of the [Robot Web Tools](http://robotwebtools.org/) effort.
 

diff --git a/include/web_video_server/h264_streamer.h b/include/web_video_server/h264_streamer.h
@@ -0,0 +1,35 @@
+#ifndef H264_STREAMERS_H_
+#define H264_STREAMERS_H_
+
+#include <image_transport/image_transport.h>
+#include "web_video_server/libav_streamer.h"
+#include "async_web_server_cpp/http_request.hpp"
+#include "async_web_server_cpp/http_connection.hpp"
+
+namespace web_video_server
+{
+
+class H264Streamer : public LibavStreamer
+{
+public:
+  H264Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
+              ros::NodeHandle& nh);
+  ~H264Streamer();
+protected:
+  virtual void initializeEncoder();
+  std::string preset_;
+};
+
+class H264StreamerType : public LibavStreamerType
+{
+public:
+  H264StreamerType();
+  virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
+                                                           async_web_server_cpp::HttpConnectionPtr connection,
+                                                           ros::NodeHandle& nh);
+};
+
+}
+
+#endif
+
diff --git a/include/web_video_server/image_streamer.h b/include/web_video_server/image_streamer.h
@@ -13,37 +13,60 @@ namespace web_video_server
 class ImageStreamer
 {
 public:
-  ImageStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-                image_transport::ImageTransport it);
+  ImageStreamer(const async_web_server_cpp::HttpRequest &request,
+		async_web_server_cpp::HttpConnectionPtr connection,
+		ros::NodeHandle& nh);
 
+  virtual void start() = 0;
   virtual ~ImageStreamer();
 
-  void start();
+  bool isInactive()
+  {
+    return inactive_;
+  }
 
-  bool isInactive();
+  /**
+   * Restreams the last received image frame if older than max_age.
+   */
+  virtual void restreamFrame(double max_age) = 0;
 
   std::string getTopic()
   {
     return topic_;
   }
 
+protected:
+  async_web_server_cpp::HttpConnectionPtr connection_;
+  async_web_server_cpp::HttpRequest request_;
+  ros::NodeHandle nh_;
+  bool inactive_;
+  image_transport::Subscriber image_sub_;
+  std::string topic_;
+};
+
+
+class ImageTransportImageStreamer : public ImageStreamer
+{
+public:
+  ImageTransportImageStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
+			      ros::NodeHandle& nh);
+  virtual ~ImageTransportImageStreamer();
+  virtual void start();
+
   /**
    * Restreams the last received image frame if older than max_age.
    */
   virtual void restreamFrame(double max_age);
 protected:
   virtual void sendImage(const cv::Mat &, const ros::WallTime &time) = 0;
-
   virtual void initialize(const cv::Mat &);
 
-  async_web_server_cpp::HttpConnectionPtr connection_;
-  async_web_server_cpp::HttpRequest request_;
-  bool inactive_;
   image_transport::Subscriber image_sub_;
-  std::string topic_;
   int output_width_;
   int output_height_;
   bool invert_;
+  std::string default_transport_;
+
   ros::WallTime last_frame;
   cv::Mat output_size_image;
   boost::mutex send_mutex_;
@@ -60,7 +83,7 @@ class ImageStreamerType
 public:
   virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
                                                            async_web_server_cpp::HttpConnectionPtr connection,
-                                                           image_transport::ImageTransport it) = 0;
+                                                           ros::NodeHandle& nh) = 0;
 
   virtual std::string create_viewer(const async_web_server_cpp::HttpRequest &request) = 0;
 };

diff --git a/include/web_video_server/jpeg_streamers.h b/include/web_video_server/jpeg_streamers.h
@@ -2,23 +2,26 @@
 #define JPEG_STREAMERS_H_
 
 #include <image_transport/image_transport.h>
+#include <opencv2/imgcodecs.hpp>
 #include "web_video_server/image_streamer.h"
 #include "async_web_server_cpp/http_request.hpp"
 #include "async_web_server_cpp/http_connection.hpp"
+#include "web_video_server/multipart_stream.h"
 
 namespace web_video_server
 {
 
-class MjpegStreamer : public ImageStreamer
+class MjpegStreamer : public ImageTransportImageStreamer
 {
 public:
   MjpegStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-                image_transport::ImageTransport it);
+                ros::NodeHandle& nh);
   ~MjpegStreamer();
 protected:
   virtual void sendImage(const cv::Mat &, const ros::WallTime &time);
 
 private:
+  MultipartStream stream_;
   int quality_;
 };
 
@@ -27,17 +30,15 @@ class MjpegStreamerType : public ImageStreamerType
 public:
   boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
                                                    async_web_server_cpp::HttpConnectionPtr connection,
-                                                   image_transport::ImageTransport it);
-
+                                                   ros::NodeHandle& nh);
   std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
 };
 
-class JpegSnapshotStreamer : public ImageStreamer
+class JpegSnapshotStreamer : public ImageTransportImageStreamer
 {
 public:
   JpegSnapshotStreamer(const async_web_server_cpp::HttpRequest &request,
-                       async_web_server_cpp::HttpConnectionPtr connection, image_transport::ImageTransport it);
-
+                       async_web_server_cpp::HttpConnectionPtr connection, ros::NodeHandle& nh);
   ~JpegSnapshotStreamer();
 protected:
   virtual void sendImage(const cv::Mat &, const ros::WallTime &time);