├── LICENSE
├── launch
    └── rtsp_camera.launch
├── .gitignore
├── package.xml
├── src
    └── rtsp_driver_node
├── README.md
└── CMakeLists.txt


/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2022 Andrea F Daniele
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/launch/rtsp_camera.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |     <arg name="camera_name" default="rtsp_camera" />
 4 |     <arg name="camera_frame" default="rtsp_camera_link" />
 5 |     <arg name="image_raw_topic" default="image_raw" />
 6 |     <arg name="camera_info_topic" default="camera_info" />
 7 | 
 8 |     <!-- RTSP camera info -->
 9 |     <arg name="hostname" doc="hostname or IP of the rtsp camera" />
10 |     <arg name="username" doc="username for the rtsp camera" />
11 |     <arg name="password" doc="password for the rtsp camera" />
12 |     <arg name="port" default="554" doc="port of the rtsp camera" />
13 |     <arg name="stream" doc="name of the video stream published by the rtsp camera" />
14 | 
15 |     <group ns="$(arg camera_name)">
16 |         <node pkg="rtsp_ros_driver" type="rtsp_driver_node" name="rtsp_driver_node" output="screen">
17 |             <param name="rtsp_resource" value="rtsp://$(arg username):$(arg password)@$(arg hostname):$(arg port)/$(arg stream)" />
18 |             <param name="camera_name" value="$(arg camera_name)" />
19 |             <param name="camera_frame" value="$(arg camera_frame)" />
20 |             <param name="image_raw_topic" value="$(arg image_raw_topic)" />
21 |             <param name="camera_info_topic" value="$(arg camera_info_topic)" />
22 |         </node>
23 |     </group>
24 | 
25 | </launch>
26 | 


--------------------------------------------------------------------------------
/.gitignore:
--------------------------------------------------------------------------------
  1 | # Byte-compiled / optimized / DLL files
  2 | __pycache__/
  3 | *.py[cod]
  4 | *$py.class
  5 | 
  6 | # C extensions
  7 | *.so
  8 | 
  9 | # Distribution / packaging
 10 | .Python
 11 | env/
 12 | build/
 13 | develop-eggs/
 14 | dist/
 15 | downloads/
 16 | eggs/
 17 | .eggs/
 18 | lib/
 19 | lib64/
 20 | parts/
 21 | sdist/
 22 | var/
 23 | wheels/
 24 | *.egg-info/
 25 | .installed.cfg
 26 | *.egg
 27 | 
 28 | # PyInstaller
 29 | #  Usually these files are written by a python script from a template
 30 | #  before PyInstaller builds the exe, so as to inject date/other infos into it.
 31 | *.manifest
 32 | *.spec
 33 | 
 34 | # Installer logs
 35 | pip-log.txt
 36 | pip-delete-this-directory.txt
 37 | 
 38 | # Unit test / coverage reports
 39 | htmlcov/
 40 | .tox/
 41 | .coverage
 42 | .coverage.*
 43 | .cache
 44 | nosetests.xml
 45 | coverage.xml
 46 | *.cover
 47 | .hypothesis/
 48 | 
 49 | # Translations
 50 | *.mo
 51 | *.pot
 52 | 
 53 | # Django stuff:
 54 | *.log
 55 | local_settings.py
 56 | 
 57 | # Flask stuff:
 58 | instance/
 59 | .webassets-cache
 60 | 
 61 | # Scrapy stuff:
 62 | .scrapy
 63 | 
 64 | # Sphinx documentation
 65 | docs/_build/
 66 | 
 67 | # PyBuilder
 68 | target/
 69 | 
 70 | # Jupyter Notebook
 71 | .ipynb_checkpoints
 72 | 
 73 | # pyenv
 74 | .python-version
 75 | 
 76 | # celery beat schedule file
 77 | celerybeat-schedule
 78 | 
 79 | # SageMath parsed files
 80 | *.sage.py
 81 | 
 82 | # dotenv
 83 | .env
 84 | 
 85 | # virtualenv
 86 | .venv
 87 | venv/
 88 | ENV/
 89 | 
 90 | # Spyder project settings
 91 | .spyderproject
 92 | .spyproject
 93 | 
 94 | # Rope project settings
 95 | .ropeproject
 96 | 
 97 | # mkdocs documentation
 98 | /site
 99 | 
100 | # mypy
101 | .mypy_cache/
102 | 


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>rtsp_ros_driver</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The rtsp_ros_driver package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="afdaniele@ttic.edu">Andrea F. Daniele</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>MIT</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/rtsp_ros_driver</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
35 |   <!--   <depend>roscpp</depend> -->
36 |   <!--   Note that this is equivalent to the following: -->
37 |   <!--   <build_depend>roscpp</build_depend> -->
38 |   <!--   <exec_depend>roscpp</exec_depend> -->
39 |   <!-- Use build_depend for packages you need at compile time: -->
40 |   <!--   <build_depend>message_generation</build_depend> -->
41 |   <!-- Use build_export_depend for packages you need in order to build against this package: -->
42 |   <!--   <build_export_depend>message_generation</build_export_depend> -->
43 |   <!-- Use buildtool_depend for build tool packages: -->
44 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
45 |   <!-- Use exec_depend for packages you need at runtime: -->
46 |   <!--   <exec_depend>message_runtime</exec_depend> -->
47 |   <!-- Use test_depend for packages you need only for testing: -->
48 |   <!--   <test_depend>gtest</test_depend> -->
49 |   <!-- Use doc_depend for packages you need only for building documentation: -->
50 |   <!--   <doc_depend>doxygen</doc_depend> -->
51 |   <buildtool_depend>catkin</buildtool_depend>
52 |   <build_depend>cv_bridge</build_depend>
53 |   <build_depend>rospy</build_depend>
54 |   <build_depend>sensor_msgs</build_depend>
55 |   <build_export_depend>cv_bridge</build_export_depend>
56 |   <build_export_depend>rospy</build_export_depend>
57 |   <build_export_depend>sensor_msgs</build_export_depend>
58 |   <exec_depend>cv_bridge</exec_depend>
59 |   <exec_depend>rospy</exec_depend>
60 |   <exec_depend>sensor_msgs</exec_depend>
61 | 
62 | 
63 |   <!-- The export tag contains other, unspecified, tags -->
64 |   <export>
65 |     <!-- Other tools can request additional information be placed here -->
66 | 
67 |   </export>
68 | </package>
69 | 


--------------------------------------------------------------------------------
/src/rtsp_driver_node:
--------------------------------------------------------------------------------
  1 | #! /usr/bin/env python2
  2 | 
  3 | import os
  4 | import cv2
  5 | import sys
  6 | import time
  7 | import rospy
  8 | from cv_bridge import CvBridge
  9 | from sensor_msgs.msg import Image, CameraInfo
 10 | from camera_info_manager import *
 11 | from threading import Thread
 12 | from time import sleep
 13 | 
 14 | 
 15 | verbose = False
 16 | camera_frame = ''
 17 | camera_info_manager = None
 18 | camera_info_publisher = None
 19 | is_shutdown = False
 20 | async_info_publisher = False
 21 | async_info_publisher_freq = 30
 22 | 
 23 | def camera_info_publisher_fcn(_):
 24 |     global camera_frame, camera_info_manager, camera_info_publisher, async_info_publisher_freq, is_shutdown
 25 |     wait_time = 1.0 / async_info_publisher_freq
 26 |     while True:
 27 |         if is_shutdown or rospy.is_shutdown():
 28 |             return
 29 |         # publish camera calibration
 30 |         camera_info_msg = camera_info_manager.getCameraInfo()
 31 |         camera_info_msg.header.frame_id = camera_frame
 32 |         camera_info_msg.header.stamp = rospy.Time.now()
 33 |         camera_info_publisher.publish( camera_info_msg )
 34 |         # wait for 1 second
 35 |         sleep(wait_time)
 36 | 
 37 | 
 38 | if __name__ == '__main__':
 39 |     # initialize ROS node
 40 |     print("Initializing ROS node... ", end=' ')
 41 |     rospy.init_node('rtsp_camera_driver_node')
 42 |     print("Done!")
 43 | 
 44 |     # get ROS parameters
 45 |     resource = rospy.get_param('~rtsp_resource')
 46 |     camera_name = rospy.get_param('~camera_name')
 47 |     camera_frame = rospy.get_param('~camera_frame')
 48 |     image_raw_topic = rospy.get_param('~image_raw_topic')
 49 |     camera_info_topic = rospy.get_param('~camera_info_topic')
 50 | 
 51 |     # check the environment variable ROS_HOME
 52 |     if( 'ROS_HOME' not in os.environ ):
 53 |         rospy.logerr("The environment variable ROS_HOME is not set. Please set it before you run this node. It should be pointing to your `catkin_ws` directory.")
 54 |         exit(0)
 55 | 
 56 |     # open RTSP stream
 57 |     cap = cv2.VideoCapture(resource)
 58 |     if not cap.isOpened():
 59 |         rospy.logerr("Error opening resource `%s`. Please check." % resource)
 60 |         exit(0)
 61 |     rospy.loginfo("Resource successfully opened")
 62 | 
 63 |     # create publishers
 64 |     image_pub = rospy.Publisher(image_raw_topic, Image, queue_size=1)
 65 |     camera_info_publisher = rospy.Publisher(camera_info_topic, CameraInfo, queue_size=1)
 66 | 
 67 |     # initialize ROS_CV_Bridge
 68 |     ros_cv_bridge = CvBridge()
 69 | 
 70 |     # initialize Camera Info Manager
 71 |     camera_info_manager = CameraInfoManager(cname=camera_name, namespace=camera_name)
 72 |     camera_info_manager.loadCameraInfo()
 73 |     if not camera_info_manager.isCalibrated():
 74 |         rospy.logwarn("No calibration found for the current camera")
 75 | 
 76 |     # if async_info_publisher, create and launch async publisher node
 77 |     if async_info_publisher:
 78 |         camera_info_pub = Thread(target=camera_info_publisher_fcn, args=(camera_info_manager, ))
 79 |         camera_info_pub.start()
 80 | 
 81 |     # initialize variables
 82 |     print("Correctly opened resource, starting to publish feed.")
 83 |     rval, cv_image = cap.read()
 84 |     last_t = time.time()
 85 |     last_print_t = time.time()
 86 |     t_buffer = []
 87 | 
 88 |     # process frames
 89 |     while rval:
 90 |         # get new frame
 91 |         rval, cv_image = cap.read()
 92 |         # handle Ctrl-C
 93 |         key = cv2.waitKey(20)
 94 |         if rospy.is_shutdown() or key == 27 or key == 1048603:
 95 |             break
 96 |         # convert CV image to ROS message
 97 |         image_msg = ros_cv_bridge.cv2_to_imgmsg(cv_image, encoding="bgr8")
 98 |         image_msg.header.frame_id = camera_frame
 99 |         image_msg.header.stamp = rospy.Time.now()
100 |         image_pub.publish( image_msg )
101 |         # publish camera calibration in case of sync publisher
102 |         if not async_info_publisher:
103 |             camera_info_msg = camera_info_manager.getCameraInfo()
104 |             camera_info_msg.header.frame_id = camera_frame
105 |             camera_info_msg.header.stamp = image_msg.header.stamp
106 |             camera_info_publisher.publish( camera_info_msg )
107 |         # compute frequency
108 |         cur_t = time.time()
109 |         t_buffer.append( cur_t - last_t )
110 |         # print frequency (if verbose)
111 |         if cur_t - last_print_t > 1:
112 |             wait_avg_sec = float(sum(t_buffer))/float(len(t_buffer))
113 |             hz = 1. / wait_avg_sec
114 |             if verbose: rospy.loginfo('Streaming @ %.1f Hz' % hz)
115 |             last_print_t = cur_t
116 |         last_t = cur_t
117 | 
118 |     # stop thread
119 |     if async_info_publisher:
120 |         is_shutdown = True
121 |         camera_info_pub.join()
122 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
  1 | # rtsp_ros_driver
  2 | 
  3 | This ROS package contains a driver node that reads frames from an RTSP video stream (e.g., IP Camera) and publishes them out as [sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html) ROS messages.
  4 | 
  5 | 
  6 | # Configuration
  7 | 
  8 | `rtsp_ros_driver` implements the ROS [camera_info_manager](http://wiki.ros.org/camera_info_manager_py) interface.
  9 | This means that the driver node can seamlessly handle camera calibration files. `rtsp_ros_driver` stores camera
 10 | calibration files in the directory `$ROS_HOME/camera_info/`. Export the environment variable `$ROS_HOME` to point to
 11 | your `catkin_ws` directory.
 12 | 
 13 | ```
 14 |  export ROS_HOME=<path_to_your_catkin_ws>
 15 | ```
 16 | 
 17 | 
 18 | # Tutorial
 19 | 
 20 | You can launch the `rtsp_ros_driver` main node by running:
 21 | 
 22 | ```
 23 | roslaunch rtsp_ros_driver rtsp_camera.launch <arguments>
 24 | ```
 25 | 
 26 | 
 27 | # Launch files
 28 | 
 29 | ## rtsp_camera.launch
 30 | Launches the main node of the package (i.e., `rtsp_driver_node`). Unlike the `rtsp_driver_node` node, this launch file allows us to specify hostname, username, password, and other parameters about the camera separately. These parameters will be combined into a standard URL format and sent to the `rtsp_driver_node` node.
 31 | 
 32 | ### Subscribed topics
 33 | None.
 34 | 
 35 | ### Published topics
 36 | Identical to the `rtsp_driver_node` node (see below).
 37 | 
 38 | ### Arguments
 39 | 
 40 | #### Mandatory arguments
 41 | 
 42 | _hostname_
 43 |   &nbsp;&nbsp;
 44 |   (`string`)
 45 | <br/>
 46 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
 47 |     Hostname or IP of the RTSP camera.
 48 |     <br/> 
 49 | 
 50 | _username_
 51 |   &nbsp;&nbsp;
 52 |   (`string`)
 53 | <br/>
 54 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
 55 |     Username for the RTSP camera.
 56 |     <br/>     
 57 | 
 58 | _password_
 59 |   &nbsp;&nbsp;
 60 |   (`string`)
 61 | <br/>
 62 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
 63 |     Password for the RTSP camera.
 64 |     <br/>    
 65 | 
 66 | _stream_
 67 |   &nbsp;&nbsp;
 68 |   (`string`)
 69 | <br/>
 70 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
 71 |     Name of the video stream published by the RTSP camera.
 72 |     <br/>    
 73 |     
 74 | 
 75 | #### Optional arguments
 76 | 
 77 | _camera\_name_
 78 |   &nbsp;&nbsp;
 79 |   (`string`, default: _rtsp\_camera_)
 80 | <br/>
 81 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
 82 |     Namespace of the camera.
 83 |     <br/>
 84 | 
 85 | _camera\_frame_
 86 |   &nbsp;&nbsp;
 87 |   (`string`, default: _rtsp\_camera\_link_)
 88 | <br/>
 89 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
 90 |     Name of the camera reference frame.
 91 |     <br/>
 92 | 
 93 | _image\_raw\_topic_
 94 |   &nbsp;&nbsp;
 95 |   (`string`, default: _~image\_raw_)
 96 | <br/>
 97 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
 98 |     Name of the output image topic.
 99 |     <br/> 
100 | 
101 | _camera\_info\_topic_
102 |   &nbsp;&nbsp;
103 |   (`string`, default: _~camera\_info_)
104 | <br/>
105 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
106 |     Name of the output camera info topic.
107 |     <br/> 
108 | 
109 | _port_
110 |   &nbsp;&nbsp;
111 |   (`int`, default: _554_)
112 | <br/>
113 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
114 |     Port of the RTSP camera.
115 |     <br/>
116 | 
117 |     
118 | 
119 | # Nodes
120 | 
121 | ## rtsp_driver_node
122 | Main node of the package, it is responsible for reading frames from the given RTSP video stream source and publishing them out as [sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html) ROS messages.
123 | 
124 | ### Subscribed topics
125 | None.
126 | 
127 | ### Published topics
128 | 
129 | _/<camera\_name>/<image\_raw\_topic>_
130 |   &nbsp;&nbsp;
131 |   ([sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html))
132 | <br/>
133 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
134 |     Raw image stream from the camera.
135 |     <br/>
136 |     
137 | _/<camera\_name>/<camera\_info\_topic>_
138 |   &nbsp;&nbsp;
139 |   ([sensor_msgs/CameraInfo](http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html))
140 | <br/>
141 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
142 |     Camera metadata.
143 |     <br/>
144 | 
145 | ### Parameters
146 | 
147 | #### Mandatory parameters
148 | 
149 | ~_rtsp\_resource_
150 |   &nbsp;&nbsp;
151 |   (`string`)
152 | <br/>
153 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
154 |     RTSP URL to the camera string.
155 |     <br/>
156 | 
157 | 
158 | #### Optional parameters
159 | 
160 | ~_camera\_name_
161 |   &nbsp;&nbsp;
162 |   (`string`, default: _rtsp\_camera_)
163 | <br/>
164 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
165 |     Namespace of the camera.
166 |     <br/>
167 | 
168 | ~_camera\_frame_
169 |   &nbsp;&nbsp;
170 |   (`string`, default: _rtsp\_camera\_link_)
171 | <br/>
172 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
173 |     Name of the camera reference frame.
174 |     <br/>
175 | 
176 | ~_image\_raw\_topic_
177 |   &nbsp;&nbsp;
178 |   (`string`, default: _~image\_raw_)
179 | <br/>
180 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
181 |     Name of the output image topic.
182 |     <br/> 
183 | 
184 | ~_camera\_info\_topic_
185 |   &nbsp;&nbsp;
186 |   (`string`, default: _~camera\_info_)
187 | <br/>
188 |     &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
189 |     Name of the output camera info topic.
190 |     <br/> 
191 | 


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(rtsp_ros_driver)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED COMPONENTS
 11 |   cv_bridge
 12 |   rospy
 13 |   sensor_msgs
 14 | )
 15 | 
 16 | ## System dependencies are found with CMake's conventions
 17 | # find_package(Boost REQUIRED COMPONENTS system)
 18 | 
 19 | 
 20 | ## Uncomment this if the package has a setup.py. This macro ensures
 21 | ## modules and global scripts declared therein get installed
 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 23 | # catkin_python_setup()
 24 | 
 25 | ################################################
 26 | ## Declare ROS messages, services and actions ##
 27 | ################################################
 28 | 
 29 | ## To declare and build messages, services or actions from within this
 30 | ## package, follow these steps:
 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 32 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 33 | ## * In the file package.xml:
 34 | ##   * add a build_depend tag for "message_generation"
 35 | ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
 36 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 37 | ##     but can be declared for certainty nonetheless:
 38 | ##     * add a run_depend tag for "message_runtime"
 39 | ## * In this file (CMakeLists.txt):
 40 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 41 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 42 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 43 | ##     catkin_package(CATKIN_DEPENDS ...)
 44 | ##   * uncomment the add_*_files sections below as needed
 45 | ##     and list every .msg/.srv/.action file to be processed
 46 | ##   * uncomment the generate_messages entry below
 47 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 48 | 
 49 | ## Generate messages in the 'msg' folder
 50 | # add_message_files(
 51 | #   FILES
 52 | #   Message1.msg
 53 | #   Message2.msg
 54 | # )
 55 | 
 56 | ## Generate services in the 'srv' folder
 57 | # add_service_files(
 58 | #   FILES
 59 | #   Service1.srv
 60 | #   Service2.srv
 61 | # )
 62 | 
 63 | ## Generate actions in the 'action' folder
 64 | # add_action_files(
 65 | #   FILES
 66 | #   Action1.action
 67 | #   Action2.action
 68 | # )
 69 | 
 70 | ## Generate added messages and services with any dependencies listed here
 71 | # generate_messages(
 72 | #   DEPENDENCIES
 73 | #   sensor_msgs
 74 | # )
 75 | 
 76 | ################################################
 77 | ## Declare ROS dynamic reconfigure parameters ##
 78 | ################################################
 79 | 
 80 | ## To declare and build dynamic reconfigure parameters within this
 81 | ## package, follow these steps:
 82 | ## * In the file package.xml:
 83 | ##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
 84 | ## * In this file (CMakeLists.txt):
 85 | ##   * add "dynamic_reconfigure" to
 86 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 87 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 88 | ##     and list every .cfg file to be processed
 89 | 
 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 91 | # generate_dynamic_reconfigure_options(
 92 | #   cfg/DynReconf1.cfg
 93 | #   cfg/DynReconf2.cfg
 94 | # )
 95 | 
 96 | ###################################
 97 | ## catkin specific configuration ##
 98 | ###################################
 99 | ## The catkin_package macro generates cmake config files for your package
100 | ## Declare things to be passed to dependent projects
101 | ## INCLUDE_DIRS: uncomment this if your package contains header files
102 | ## LIBRARIES: libraries you create in this project that dependent projects also need
103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
104 | ## DEPENDS: system dependencies of this project that dependent projects also need
105 | catkin_package(
106 | #  INCLUDE_DIRS include
107 | #  LIBRARIES rtsp_ros_driver
108 | #  CATKIN_DEPENDS cv_bridge rospy sensor_msgs
109 | #  DEPENDS system_lib
110 | )
111 | 
112 | ###########
113 | ## Build ##
114 | ###########
115 | 
116 | ## Specify additional locations of header files
117 | ## Your package locations should be listed before other locations
118 | include_directories(
119 | # include
120 |   ${catkin_INCLUDE_DIRS}
121 | )
122 | 
123 | ## Declare a C++ library
124 | # add_library(${PROJECT_NAME}
125 | #   src/${PROJECT_NAME}/rtsp_ros_driver.cpp
126 | # )
127 | 
128 | ## Add cmake target dependencies of the library
129 | ## as an example, code may need to be generated before libraries
130 | ## either from message generation or dynamic reconfigure
131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
132 | 
133 | ## Declare a C++ executable
134 | ## With catkin_make all packages are built within a single CMake context
135 | ## The recommended prefix ensures that target names across packages don't collide
136 | # add_executable(${PROJECT_NAME}_node src/rtsp_ros_driver_node.cpp)
137 | 
138 | ## Rename C++ executable without prefix
139 | ## The above recommended prefix causes long target names, the following renames the
140 | ## target back to the shorter version for ease of user use
141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
143 | 
144 | ## Add cmake target dependencies of the executable
145 | ## same as for the library above
146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
147 | 
148 | ## Specify libraries to link a library or executable target against
149 | # target_link_libraries(${PROJECT_NAME}_node
150 | #   ${catkin_LIBRARIES}
151 | # )
152 | 
153 | #############
154 | ## Install ##
155 | #############
156 | 
157 | # all install targets should use catkin DESTINATION variables
158 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
159 | 
160 | ## Mark executable scripts (Python etc.) for installation
161 | ## in contrast to setup.py, you can choose the destination
162 | # install(PROGRAMS
163 | #   scripts/my_python_script
164 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
165 | # )
166 | 
167 | ## Mark executables and/or libraries for installation
168 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
169 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
170 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
171 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
172 | # )
173 | 
174 | ## Mark cpp header files for installation
175 | # install(DIRECTORY include/${PROJECT_NAME}/
176 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
177 | #   FILES_MATCHING PATTERN "*.h"
178 | #   PATTERN ".svn" EXCLUDE
179 | # )
180 | 
181 | ## Mark other files for installation (e.g. launch and bag files, etc.)
182 | # install(FILES
183 | #   # myfile1
184 | #   # myfile2
185 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
186 | # )
187 | 
188 | #############
189 | ## Testing ##
190 | #############
191 | 
192 | ## Add gtest based cpp test target and link libraries
193 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_rtsp_ros_driver.cpp)
194 | # if(TARGET ${PROJECT_NAME}-test)
195 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
196 | # endif()
197 | 
198 | ## Add folders to be run by python nosetests
199 | # catkin_add_nosetests(test)
200 | 


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