travis: Add noetic

.travis.yml

@@ -3,8 +3,8 @@ services:
   - docker
 env:
   matrix:
-    - ROS_DISTRO="kinetic"
     - ROS_DISTRO="melodic"
+    - ROS_DISTRO="noetic"
 install:
   - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci
 script:

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>video_stream_opencv</name>
   <version>1.1.6</version>
 
@@ -28,17 +28,24 @@
   <build_depend>rospy</build_depend>
   <build_depend>sensor_msgs</build_depend>
 
-  <run_depend>cv_bridge</run_depend>
-  <run_depend>image_transport</run_depend>
-  <run_depend>camera_info_manager</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>sensor_msgs</run_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>camera_info_manager</exec_depend>
+  <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>nodelet</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>rostopic</test_depend>
+  <test_depend>libgstrtspserver-1.0-dev</test_depend>
+  <test_depend>gstreamer1.0-plugins-ugly</test_depend>
+  <test_depend>gstreamer1.0-libav</test_depend>
+  <test_depend>gstreamer1.0-rtsp</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-gi</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-gi</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-gst-1.0</test_depend>
 
   <export>
     <nodelet plugin="${prefix}/nodelet_plugins.xml"/>

test/delayed_launch.sh

@@ -0,0 +1,4 @@
+#!/bin/bash -e
+
+sleep 5
+exec $@

test/mjpg_server.py

@@ -9,9 +9,16 @@
 import rospy
 import sys
 import time
-from BaseHTTPServer import BaseHTTPRequestHandler
-from BaseHTTPServer import HTTPServer
-from SocketServer import ThreadingMixIn
+try:
+    from http.server import BaseHTTPRequestHandler
+    from http.server import HTTPServer
+except ImportError:
+    from BaseHTTPServer import BaseHTTPRequestHandler
+    from BaseHTTPServer import HTTPServer
+try:
+    from socketserver import ThreadingMixIn
+except ImportError:
+    from SocketServer import ThreadingMixIn
 
 
 VIDEO_PATH = None
@@ -70,14 +77,14 @@ def mjpg_response(self):
                 ok, img = cv2.imencode('.jpg', img, [cv2.IMWRITE_JPEG_QUALITY, self.jpeg_quality])
                 if not ok:
                     continue
-                jpg = img.tostring()
-                self.wfile.write('--jpgboundary')
-                self.wfile.write(os.linesep)
+                jpg = img.tobytes()
+                self.wfile.write(b'--jpgboundary')
+                self.wfile.write(os.linesep.encode('utf-8'))
                 self.send_header('Content-type', 'image/jpeg')
                 self.send_header('Content-length', str(len(jpg)))
                 self.end_headers()
                 self.wfile.write(jpg)
-                self.wfile.write(os.linesep)
+                self.wfile.write(os.linesep.encode('utf-8'))
                 time.sleep(1.0 / self.loop_rate)
             except KeyboardInterrupt:
                 break

test/rtsp_server.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+# Author: Yuki Furuta <furushchev@gmail.com>
+
+import argparse
+import os
+
+import gi
+
+gi.require_version('Gst', '1.0')
+gi.require_version('GstRtspServer', '1.0')
+from gi.repository import GLib, GObject, Gst, GstRtspServer
+
+Gst.init(None)
+
+
+class RTSPMediaFactory(GstRtspServer.RTSPMediaFactory):
+    def __init__(self, video_file, **properties):
+        super(RTSPMediaFactory, self).__init__(**properties)
+        self.video_file = video_file
+
+    def do_create_element(self, url):
+        # Build the pipeline: read from file, decode, convert video, encode to H264, and pack in RTP H264 payload
+        return Gst.parse_launch(' ! '.join([
+            'filesrc location={}'.format(self.video_file),
+            'decodebin',
+            'videoconvert',
+            'x264enc speed-preset=ultrafast tune=zerolatency',
+            'rtph264pay name=pay0 pt=96',
+        ]))
+
+
+def main():
+    p = argparse.ArgumentParser()
+    p.add_argument('--port', type=int, default=8554)
+    p.add_argument('video', type=str)
+
+    args, _ = p.parse_known_args()
+
+    if not os.path.exists(args.video):
+        p.error('Video {} does not exist'.format(args.video))
+
+    server = GstRtspServer.RTSPServer()
+    server.props.service = str(args.port)
+
+    factory = RTSPMediaFactory(args.video)
+    factory.set_shared(True)
+
+    mount_points = server.get_mount_points()
+    mount_points.add_factory('/video', factory)
+
+    server.attach(None)
+    print('RTSP server is running at rtsp://localhost:{}/video'.format(args.port))
+
+    loop = GLib.MainLoop()
+    try:
+        loop.run()
+    except KeyboardInterrupt:
+        print('Server interrupted, exiting...')
+        loop.quit()
+
+
+if __name__ == "__main__":
+    main()

test/test_mjpg_stream.test

@@ -15,6 +15,7 @@
 
   <group ns="$(arg camera_name)">
     <node pkg="video_stream_opencv" type="video_stream" name="$(arg camera_name)_stream"
+          launch-prefix="$(find video_stream_opencv)/test/delayed_launch.sh"
           output="screen" respawn="true">
       <remap from="camera" to="image_raw" />
       <param name="camera_name" type="string" value="$(arg camera_name)" />
@@ -36,7 +37,7 @@
         args="--port 8080 $(find video_stream_opencv)/test/small.mp4"
         output="screen"/>
 
-  <test test-name="pubtest" pkg="rostest" type="publishtest">
+  <test test-name="test_mjpg_stream" pkg="rostest" type="publishtest" retry="2">
     <rosparam>
       topics:
       - name: /mjpg/image_raw

test/test_rtsp_stream.test

@@ -1,18 +1,28 @@
 <?xml version="1.0"?>
 <launch>
-  <include file="$(find video_stream_opencv)/launch/camera.launch" >
-    <arg name="camera_name" value="rtsp2"/>
-    <arg name="video_stream_provider" value="rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov"/>
-    <arg name="buffer_queue_size" value="1000"/>
-    <arg name="fps" value="30"/>
-    <arg name="frame_id" value="rtsp_frame"/>
-    <arg name="camera_info_url" value=""/>
-    <arg name="flip_horizontal" value="false"/>
-    <arg name="flip_vertical" value="false"/>
-    <arg name="visualize" value="false"/>
-  </include>
+  <group ns="rtsp2">
+    <node pkg="video_stream_opencv" type="video_stream" name="rtsp2_stream"
+          launch-prefix="$(find video_stream_opencv)/test/delayed_launch.sh"
+          output="screen" respawn="true">
+      <remap from="camera" to="image_raw"/>
+      <rosparam>
+        camera_name: rtsp2
+        video_stream_provider: rtsp://localhost:8854/video
+        buffer_queue_size: 1000
+        fps: 30
+        frame_id: rtsp_frame
+        camera_info_url: ''
+        flip_horizontal: false
+        flip_vertical: false
+      </rosparam>
+    </node>
+  </group>
 
-  <test test-name="pubtest" pkg="rostest" type="publishtest">
+  <node name="rtsp_server" pkg="video_stream_opencv" type="rtsp_server.py"
+        args="--port 8854 $(find video_stream_opencv)/test/small.mp4"
+        output="screen"/>
+
+  <test test-name="test_rtsp_stream" pkg="rostest" type="publishtest">
     <rosparam>
       topics:
       - name: /rtsp2/image_raw

test/test_video_file.test

@@ -14,7 +14,7 @@
     <arg name="visualize" value="false"/>
   </include>
 
-  <test test-name="pubtest" pkg="rostest" type="publishtest">
+  <test test-name="test_video_file" pkg="rostest" type="publishtest">
     <rosparam>
       topics:
       - name: /videofile/image_raw