ros-drivers · jbohren · Jul 10, 2014 · Jul 28, 2014 · Jul 29, 2014
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package gscam
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+FORTHCOMING
+-----------
+* Added experimental GStreamer-1.0 branch support
+
 0.1.3 (2013-12-19)
 ------------------
 * Removed special characters from changelog.

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,106 +4,84 @@ project(gscam)
 
 # System Dependencies
 find_package(PkgConfig)
-pkg_check_modules(GSTREAMER REQUIRED gstreamer-0.10)
-pkg_check_modules(GST_APP REQUIRED gstreamer-app-0.10)
-
-if(USE_ROSBUILD)
-  # Use rosbuild
-  include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-  rosbuild_init()
-
-  set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-  set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-  include_directories(${GLIB_INCLUDE_DIRS} ${GST_APP_INCLUDE_DIRS})
-
-  rosbuild_add_library(gscam src/gscam.cpp)
-  target_link_libraries(gscam
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
-
-  rosbuild_add_executable(gscam_node src/gscam_node.cpp)
-  target_link_libraries(gscam_node gscam
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
-  set_target_properties(gscam_node PROPERTIES OUTPUT_NAME gscam)
-
-  rosbuild_add_library(GSCamNodelet src/gscam_nodelet.cpp)
-  target_link_libraries(GSCamNodelet gscam
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
 
+if(GSTREAMER_VERSION_1_x)
+  message(STATUS "gst 1.0")
+  pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0)
+  pkg_check_modules(GST_APP REQUIRED gstreamer-app-1.0)
 else()
-  # Use Catkin
-  find_package(catkin REQUIRED 
-    COMPONENTS roscpp image_transport sensor_msgs nodelet
-    camera_calibration_parsers camera_info_manager
-    )
-
-  catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES gscam
-    CATKIN_DEPENDS roscpp nodelet image_transport sensor_msgs
-    camera_calibration_parsers camera_info_manager
-    DEPENDS GSTREAMER GST_APP
-    )
-
-  include_directories(
-    include
-    ${catkin_INCLUDE_DIRS}
-    ${GLIB_INCLUDE_DIRS}
-    ${GST_APP_INCLUDE_DIRS})
-
-  add_library(gscam src/gscam.cpp)
-  target_link_libraries(gscam
-    ${catkin_LIBRARIES}
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
-
-  add_executable(gscam_node src/gscam_node.cpp)
-  target_link_libraries(gscam_node gscam
-    ${catkin_LIBRARIES}
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
-  set_target_properties(gscam_node PROPERTIES OUTPUT_NAME gscam)
-
-  add_library(GSCamNodelet src/gscam_nodelet.cpp)
-  target_link_libraries(GSCamNodelet gscam
-    ${catkin_LIBRARIES}
-    ${GSTREAMER_LIBRARIES}
-    ${GST_APP_LIBRARIES})
-
-  # Install directives
-
-  install(TARGETS gscam gscam_node GSCamNodelet
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-    )
-
-  install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-    PATTERN ".svn" EXCLUDE)
-
-  install(FILES nodelet_plugins.xml
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-    )
-
-  install(FILES
-    examples/v4l.launch
-    examples/gscam_nodelet.launch
-    examples/nodelet_pipeline.launch
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-    )
-
-  # Interim compatibility
-  # Remove this in the next release
-  install(FILES ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node
-    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-  set(EXECUTABLE_OUTPUT_PATH ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME})
+  message(STATUS "gst 0.1")
+  pkg_check_modules(GSTREAMER REQUIRED gstreamer-0.10)
+  pkg_check_modules(GST_APP REQUIRED gstreamer-app-0.10)
 endif()
 
+find_package(catkin REQUIRED 
+  COMPONENTS roscpp image_transport sensor_msgs nodelet
+  camera_calibration_parsers camera_info_manager std_srvs
+  )
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES gscam
+  CATKIN_DEPENDS roscpp nodelet image_transport sensor_msgs
+  camera_calibration_parsers camera_info_manager std_srvs
+  DEPENDS GSTREAMER GST_APP
+  )
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${GLIB_INCLUDE_DIRS}
+  ${GST_APP_INCLUDE_DIRS})
+
+add_library(gscam src/gscam.cpp)
+target_link_libraries(gscam
+  ${catkin_LIBRARIES}
+  ${GSTREAMER_LIBRARIES}
+  ${GST_APP_LIBRARIES})
+
+add_executable(gscam_node src/gscam_node.cpp)
+target_link_libraries(gscam_node gscam
+  ${catkin_LIBRARIES}
+  ${GSTREAMER_LIBRARIES}
+  ${GST_APP_LIBRARIES})
+set_target_properties(gscam_node PROPERTIES OUTPUT_NAME gscam)
+
+add_library(GSCamNodelet src/gscam_nodelet.cpp)
+target_link_libraries(GSCamNodelet gscam
+  ${catkin_LIBRARIES}
+  ${GSTREAMER_LIBRARIES}
+  ${GST_APP_LIBRARIES})
+
+# Install directives
+
+install(TARGETS gscam gscam_node GSCamNodelet
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  PATTERN ".svn" EXCLUDE)
+
+install(FILES nodelet_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+install(FILES
+  examples/v4l.launch
+  examples/gscam_nodelet.launch
+  examples/nodelet_pipeline.launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+# Interim compatibility
+# Remove this in the next release
+install(FILES ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+set(EXECUTABLE_OUTPUT_PATH ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME})
+
 # Interim compatibility
 # Remove this in the next distribution release
 configure_file(scripts/gscam_node.in ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node)

diff --git a/README.md b/README.md
@@ -11,6 +11,47 @@ for more ROS-like configuration and more control over the GStreamer interface.
 
 Note that this pacakge can be built both in a rosbuild and catkin workspaces.
 
+GStreamer Library Support
+-------------------------
+
+gscam supports the following versions of GStreamer
+
+### 0.1.x: _Default_
+
+Install dependencies via `rosdep`.
+
+### 1.0.x: Experimental
+
+#### Dependencies:
+
+* gstreamer1.0-tools 
+* libgstreamer1.0-dev 
+* libgstreamer-plugins-base1.0-dev 
+* libgstreamer-plugins-good1.0-dev
+
+Ubuntu Install:
+
+##### 12.04
+
+```sh
+sudo add-apt-repository ppa:gstreamer-developers/ppa
+sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
+```
+
+##### 14.04
+
+```sh
+sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
+```
+
+#### Usage:
+* Use the CMake flag `-DGSTREAMER_VERSION_1_x=On` when building
+* See the [Video4Linux2 launchfile example](examples/v4l.launch) for
+  an example of the differences in the GStreamer config lines
+
+#### Notes:
+* This has been tested with `v4l2src`
+
 ROS API (stable)
 ----------------
 
@@ -19,22 +60,22 @@ ROS API (stable)
 This can be run as both a node and a nodelet.
 
 #### Nodes
- * `gscam`
+* `gscam`
 
 #### Topics
- * `camera/image_raw`
- * `camera/camera_info`
+* `camera/image_raw`
+* `camera/camera_info`
 
 #### Services
- * `camera/set_camera_info`
+* `camera/set_camera_info`
 
 #### Parameters
- * `~camera_name`: The name of the camera (corrsponding to the camera info)
- * `~camera_info_url`: A url (`file://path/to/file`, `package://pkg_name/path/to/file`) to the [camera calibration file](http://www.ros.org/wiki/camera_calibration_parsers#File_formats).
- * `~gscam_config`: The GStreamer [configuration string](http://wiki.oz9aec.net/index.php?title=Gstreamer_cheat_sheet&oldid=1829).
- * `~frame_id`: The [TF](http://www.ros.org/wiki/tf) frame ID.
- * `~reopen_on_eof`: Re-open the stream if it ends (EOF).
- * `~sync_sink`: Synchronize the app sink (sometimes setting this to `false` can resolve problems with sub-par framerates).
+* `~camera_name`: The name of the camera (corrsponding to the camera info)
+* `~camera_info_url`: A url (`file://path/to/file`, `package://pkg_name/path/to/file`) to the [camera calibration file](http://www.ros.org/wiki/camera_calibration_parsers#File_formats).
+* `~gscam_config`: The GStreamer [configuration string](http://wiki.oz9aec.net/index.php?title=Gstreamer_cheat_sheet&oldid=1829).
+* `~frame_id`: The [TF](http://www.ros.org/wiki/tf) frame ID.
+* `~reopen_on_eof`: Re-open the stream if it ends (EOF).
+* `~sync_sink`: Synchronize the app sink (sometimes setting this to `false` can resolve problems with sub-par framerates).
 
 C++ API (unstable)
 ------------------
@@ -46,11 +87,13 @@ Examples
 
 See example launchfiles and configs in the examples directory. Currently there
 are examples for:
- * [Video4Linux2](examples/v4l.launch): Standard
-   [video4linux](http://en.wikipedia.org/wiki/Video4Linux)-based cameras like
-   USB webcams
- * [Nodelet](examples/gscam_nodelet.launch): Run a V4L-based camera in a nodelet
- * [Video File](examples/videofile.launch): Any videofile readable by GStreamer
- * [DeckLink](examples/decklink.launch):
-   [BlackMagic](http://www.blackmagicdesign.com/products/decklink/models)
-   DeckLink SDI capture cards (note: this requires the `gst-plugins-bad` plugins)
+
+* [Video4Linux2](examples/v4l.launch): Standard
+  [video4linux](http://en.wikipedia.org/wiki/Video4Linux)-based cameras like
+  USB webcams.
+    * ***GST-1.0:*** Use the roslaunch argument `GST10:=True` for GStreamer 1.0 variant
+* [Nodelet](examples/gscam_nodelet.launch): Run a V4L-based camera in a nodelet
+* [Video File](examples/videofile.launch): Any videofile readable by GStreamer
+* [DeckLink](examples/decklink.launch):
+  [BlackMagic](http://www.blackmagicdesign.com/products/decklink/models)
+  DeckLink SDI capture cards (note: this requires the `gst-plugins-bad` plugins)
diff --git a/examples/v4l.launch b/examples/v4l.launch
@@ -6,11 +6,13 @@
   <!-- The GStreamer framerate needs to be an integral fraction -->
   <arg name="FPS" default="30/1"/>
   <arg name="PUBLISH_FRAME" default="false"/>
+  <arg name="GST10" default="false"/>
 
   <node ns="v4l" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
     <param name="camera_name" value="default"/>
     <param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
-    <param name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw-rgb,framerate=$(arg FPS) ! ffmpegcolorspace"/>
+    <param unless="$(arg GST10)" name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw-rgb,framerate=$(arg FPS) ! ffmpegcolorspace"/>
+    <param if="$(arg GST10)" name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw,format=RGBx,framerate=$(arg FPS) ! ffmpegcolorspace"/>
     <param name="frame_id" value="/v4l_frame"/>
     <param name="sync_sink" value="true"/>
   </node>

diff --git a/include/gscam/gscam.h b/include/gscam/gscam.h
@@ -15,6 +15,8 @@ extern "C"{
 #include <sensor_msgs/CameraInfo.h>
 #include <sensor_msgs/SetCameraInfo.h>
 
+#include <std_srvs/Empty.h>
+
 #include <stdexcept>
 
 namespace gscam {
@@ -62,6 +64,19 @@ namespace gscam {
     // Case of a jpeg only publisher
     ros::Publisher jpeg_pub_;
     ros::Publisher cinfo_pub_;
+
+    bool run_pipeline_;
+    bool reconfigure_;
+
+    ros::ServiceServer start_service_;
+    ros::ServiceServer stop_service_;
+    ros::ServiceServer reconfigure_service_;
+
+    bool start_pipeline_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
+
+    bool stop_pipeline_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); 
+
+    bool reconfigure_pipeline_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
   };
 
 }

diff --git a/package.xml b/package.xml
@@ -23,6 +23,7 @@
   <build_depend>roscpp</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
   <build_depend>camera_calibration_parsers</build_depend>
   <build_depend>camera_info_manager</build_depend>
 
@@ -31,6 +32,7 @@
   <run_depend>roscpp</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>sensor_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
   <run_depend>camera_calibration_parsers</run_depend>
   <run_depend>camera_info_manager</run_depend>