updates for foxy

.github/workflows/build_test.yml

@@ -0,0 +1,41 @@
+name: ROS2 CI
+
+on:
+  pull_request:
+    branches:
+      - 'ros2/*'
+      - 'ros2'
+
+jobs:
+  test_environment:
+    runs-on: [ubuntu-latest]
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          - foxy
+          - rolling
+        include:
+          # Foxy Fitzroy (June 2020 - May 2023)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
+            ros_distribution: foxy
+            ros_version: 2
+          # Rolling Ridley  (June 2020 - Present)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-rolling-ros-base-latest
+            ros_distribution: rolling
+            ros_version: 2
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: setup directories
+        run: mkdir -p ros_ws/src
+      - name: checkout
+        uses: actions/checkout@v2
+        with:
+          path: ros_ws/src
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@master
+        with:
+          package-name: usb_cam
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: ""

AUTHORS.md

@@ -7,3 +7,4 @@ Contributors
 ------------
 
  * [Russell Toris](http://users.wpi.edu/~rctoris/) (rctoris@wpi.edu)
+ * [Evan Flynn](https://www.flynnlabs.dev) (evanflynn.msu@gmail.com)

CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package usb_cam
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.7 (2018-10-29)
+------------------
+
+* ROS2 version
+
 0.3.6 (2017-06-15)
 ------------------
 * .travis.yml: udpate to trusty

CMakeLists.txt

@@ -1,34 +1,27 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(usb_cam)
 
 ## 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 image_transport roscpp std_msgs std_srvs sensor_msgs camera_info_manager)
+
+# find_package(camera_info_manager REQUIRED)
+# find_package(image_transport REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
 ## pkg-config libraries
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(avcodec libavcodec REQUIRED)
 pkg_check_modules(swscale libswscale REQUIRED)
 
-###################################################
-## Declare things to be passed to other projects ##
-###################################################
-
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-)
-
-###########
-## Build ##
-###########
+# idl stuff
+# msg/Format.msg
 
 include_directories(include
-  ${catkin_INCLUDE_DIRS}
   ${avcodec_INCLUDE_DIRS}
   ${swscale_INCLUDE_DIRS}
 )
@@ -38,7 +31,6 @@ add_library(${PROJECT_NAME} src/usb_cam.cpp)
 target_link_libraries(${PROJECT_NAME}
   ${avcodec_LIBRARIES}
   ${swscale_LIBRARIES}
-  ${catkin_LIBRARIES}
 )
 
 ## Declare a cpp executable
@@ -47,26 +39,22 @@ target_link_libraries(${PROJECT_NAME}_node
   ${PROJECT_NAME}
   ${avcodec_LIBRARIES}
   ${swscale_LIBRARIES}
-  ${catkin_LIBRARIES}
+  # TODO(lucasw) should this have been in libavcodec?
+  avutil
 )
 
-#############
-## Install ##
-#############
-
-## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ament_target_dependencies(${PROJECT_NAME}
+  "builtin_interfaces"
+  "rclcpp"
+  "sensor_msgs"
+  "std_msgs"
+  "std_srvs"
 )
 
-## Copy launch files
-install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-  FILES_MATCHING PATTERN "*.launch"
-)
+install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node DESTINATION lib/${PROJECT_NAME})
+install(PROGRAMS scripts/show_image.py DESTINATION lib/${PROJECT_NAME})
 
-install(DIRECTORY include/${PROJECT_NAME}/
-   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-)
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
+ament_package()

README.md

@@ -1,10 +1,10 @@
 usb_cam [![Build Status](https://api.travis-ci.org/bosch-ros-pkg/usb_cam.png)](https://travis-ci.org/bosch-ros-pkg/usb_cam)
 =======
 
-#### A ROS Driver for V4L USB Cameras
+#### A ROS2 Driver for V4L USB Cameras
 This package is based off of V4L devices specifically instead of just UVC.
 
-For full documentation, see [the ROS wiki](http://ros.org/wiki/usb_cam).
+For ros1 documentation, see [the ROS wiki](http://ros.org/wiki/usb_cam).
 
 [Doxygen](http://docs.ros.org/indigo/api/usb_cam/html/) files can be found on the ROS wiki.
 

config/params.yaml

@@ -0,0 +1,10 @@
+usb_cam:
+  ros__parameters:
+    video_device: "/dev/video0"
+    framerate: 15
+    io_method: "mmap"
+    frame_id: "camera"
+    pixel_format: "yuyv"
+    image_width: 640
+    image_height: 480
+    camera_name: "test"

include/usb_cam/usb_cam.h

@@ -33,8 +33,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  *********************************************************************/
-#ifndef USB_CAM_USB_CAM_H
-#define USB_CAM_USB_CAM_H
+#ifndef USB_CAM__USB_CAM_H_
+#define USB_CAM__USB_CAM_H_
 
 #include <asm/types.h>          /* for videodev2.h */
 
@@ -52,58 +52,92 @@ extern "C"
 #define AV_CODEC_ID_MJPEG CODEC_ID_MJPEG
 #endif
 
+#include <builtin_interfaces/msg/time.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/time.hpp>
+// #include <sensor_msgs/msg/image.h>
 #include <string>
+#include <vector>
 #include <sstream>
 
-#include <sensor_msgs/Image.h>
+#define ROS_INFO(msg, ...) printf(msg,  ##__VA_ARGS__)
+#define ROS_ERROR(msg, ...) printf(msg,  ##__VA_ARGS__)
+#define ROS_WARN(msg, ...) printf(msg,  ##__VA_ARGS__)
+#define ROS_DEBUG(msg, ...) printf(msg,  ##__VA_ARGS__)
+// #define ROS_DEBUG(msg, ...) // ##__VA_ARGS__
+#define __FILENAME__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
+
+#define INFO(msg) std::cout << "I [" << __FILENAME__ << ":" << __LINE__ \
+                            << " " << __FUNCTION__ << "] " << msg << "\n"
+#define WARN(msg) std::cout << "W [" << __FILENAME__ << ":" << __LINE__ \
+                            << " " << __FUNCTION__ << "] " << msg << "\n"
+#define ERROR(msg) std::cerr << "E [" << __FILENAME__ << ":" << __LINE__ \
+                             << " " << __FUNCTION__ << "] " << msg << std::endl
+#define ROS_ERROR_STREAM(msg) ERROR(msg)
 
 namespace usb_cam {
 
 class UsbCam {
  public:
   typedef enum
   {
-    IO_METHOD_READ, IO_METHOD_MMAP, IO_METHOD_USERPTR, IO_METHOD_UNKNOWN,
+    IO_METHOD_READ,
+    IO_METHOD_MMAP,
+    IO_METHOD_USERPTR,
+    IO_METHOD_UNKNOWN,
   } io_method;
 
   typedef enum
   {
-    PIXEL_FORMAT_YUYV, PIXEL_FORMAT_UYVY, PIXEL_FORMAT_MJPEG, PIXEL_FORMAT_YUVMONO10, PIXEL_FORMAT_RGB24, PIXEL_FORMAT_GREY, PIXEL_FORMAT_UNKNOWN
+    PIXEL_FORMAT_YUYV,
+    PIXEL_FORMAT_UYVY,
+    PIXEL_FORMAT_MJPEG,
+    PIXEL_FORMAT_YUVMONO10,
+    PIXEL_FORMAT_RGB24,
+    PIXEL_FORMAT_GREY,
+    PIXEL_FORMAT_UNKNOWN
   } pixel_format;
 
   UsbCam();
   ~UsbCam();
 
   // start camera
-  void start(const std::string& dev, io_method io, pixel_format pf,
-		    int image_width, int image_height, int framerate);
+  bool start(const std::string& dev, io_method io, pixel_format pf,
+              int image_width, int image_height, int framerate);
   // shutdown camera
-  void shutdown(void);
+  bool shutdown(void);
 
   // grabs a new image from the camera
-  void grab_image(sensor_msgs::Image* image);
+  // bool get_image(sensor_msgs::msg::Image:::SharedPtr image);
+  bool get_image(builtin_interfaces::msg::Time& stamp,
+      std::string& encoding, uint32_t& height, uint32_t& width,
+      uint32_t& step, std::vector<uint8_t>& data);
+
+  void get_formats();  // std::vector<usb_cam::msg::Format>& formats);
 
   // enables/disable auto focus
-  void set_auto_focus(int value);
+  bool set_auto_focus(int value);
 
   // Set video device parameters
-  void set_v4l_parameter(const std::string& param, int value);
-  void set_v4l_parameter(const std::string& param, const std::string& value);
+  bool set_v4l_parameter(const std::string& param, int value);
+  bool set_v4l_parameter(const std::string& param, const std::string& value);
 
   static io_method io_method_from_string(const std::string& str);
   static pixel_format pixel_format_from_string(const std::string& str);
 
-  void stop_capturing(void);
-  void start_capturing(void);
+  bool stop_capturing(void);
+  bool start_capturing(void);
   bool is_capturing();
 
  private:
+  // TODO(lucasw) just store an Image shared_ptr here
   typedef struct
   {
     int width;
     int height;
     int bytes_per_pixel;
     int image_size;
+    builtin_interfaces::msg::Time stamp;
     char *image;
     int is_new;
   } camera_image_t;
@@ -116,20 +150,21 @@ class UsbCam {
 
 
   int init_mjpeg_decoder(int image_width, int image_height);
-  void mjpeg2rgb(char *MJPEG, int len, char *RGB, int NumPixels);
-  void process_image(const void * src, int len, camera_image_t *dest);
-  int read_frame();
-  void uninit_device(void);
-  void init_read(unsigned int buffer_size);
-  void init_mmap(void);
-  void init_userp(unsigned int buffer_size);
-  void init_device(int image_width, int image_height, int framerate);
-  void close_device(void);
-  void open_device(void);
-  void grab_image();
+  bool mjpeg2rgb(char *MJPEG, int len, char *RGB, int NumPixels);
+  bool process_image(const void * src, int len, camera_image_t *dest);
+  bool read_frame();
+  bool uninit_device(void);
+  bool init_read(unsigned int buffer_size);
+  bool init_mmap(void);
+  bool init_userp(unsigned int buffer_size);
+  bool init_device(int image_width, int image_height, int framerate);
+  bool close_device(void);
+  bool open_device(void);
+  bool grab_image();
   bool is_capturing_;
 
 
+  rclcpp::Clock::SharedPtr clock_;
   std::string camera_dev_;
   unsigned int pixelformat_;
   bool monochrome_;
@@ -146,10 +181,9 @@ class UsbCam {
   int avframe_rgb_size_;
   struct SwsContext *video_sws_;
   camera_image_t *image_;
-
 };
 
-}
+}  // namespace usb_cam
 
-#endif
+#endif  // USB_CAM__USB_CAM_H_