clydemcqueen / h264_image_transport Goto Github PK

Hi

I am running ROS2 Humble on Ubuntu 22.04.

I am trying to run the example_launch.py file and receive the following output

[h264_cam_node-1] [INFO] [1689043986.530547557] [h264_cam_node]: Parameter input_fn: /dev/video0
[h264_cam_node-1] [INFO] [1689043986.530613627] [h264_cam_node]: Parameter fps: 30
[h264_cam_node-1] [INFO] [1689043986.530626967] [h264_cam_node]: Parameter size: 800x600
[h264_cam_node-1] [INFO] [1689043986.530637862] [h264_cam_node]: Parameter frame_id: camera_frame
[h264_cam_node-1] [INFO] [1689043986.530648478] [h264_cam_node]: Parameter camera_info_path: info.ini
[h264_cam_node-1] [ERROR] [1689043986.794651497] [camera_calibration_parsers]: Failed to detect content in .ini file
[h264_cam_node-1] [ERROR] [1689043986.794677269] [h264_cam_node]: Could not get camera info, will not publish
[h264_cam_node-1] [INFO] [1689043986.794921435] [h264_cam_node]: Camera thread started
[republish-2] [INFO] [1689043986.880832502] [republish_node]: First message: 0

I have checked that my camera can encode H.264 using v4l2-ctl --list-formats

ioctl: VIDIOC_ENUM_FMT
Type: Video Capture

[0]: 'MJPG' (Motion-JPEG, compressed)
[1]: 'YUYV' (YUYV 4:2:2)
[2]: 'NV12' (Y/CbCr 4:2:0)
[3]: 'H264' (H.264, compressed)
[4]: 'HEVC' (HEVC, compressed)

Do I need to write/generate an info.ini file? If so, could you advise on how to go about doing this?

Thank you!

Hi,

I'm getting this error when I try to compile the packages in Humble (22.04)

--- stderr: h264_image_transport
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/libavcodec.a(lpc.o): relocation R_X86_64_32S against `.rodata' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: failed to set dynamic section sizes: bad value

Any ideas on how to fix it?

Not sure if I am missing something but package is not working getting below error

Hi,

I am trying to run h264_image_transport package on ROS2 Humble on linux ubuntu 20.04 focal. The package gets built without any errors but when i try to run it using the launch file as provided, I get the cannot find a proper format for codec h264 error as in the log provided below.

Steps followed:

after building the package and sourcing it

1. $ ros2 run image_transport republish h264 raw --ros-args -r in/h264:=/image_raw/h264 -r out:=/repub_raw
2. $ ros2 launch h264_image_transport example_launch.py

error log:

$ ~/h264_image_transport$ ros2 launch h264_image_transport example_launch.py
[INFO] [launch]: All log files can be found below /home/mtk/.ros/log/2023-01-30-18-03-47-364858-mtk-NUC11TNHv5-23289
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [h264_cam_node-1]: process started with pid [23291]
[INFO] [republish-2]: process started with pid [23293]
[h264_cam_node-1] [INFO] [1675130627.850684398] [h264_cam_node]: Parameter input_fn: /dev/video0
[h264_cam_node-1] [INFO] [1675130627.850843682] [h264_cam_node]: Parameter fps: 30
[h264_cam_node-1] [INFO] [1675130627.850853585] [h264_cam_node]: Parameter size: 800x600
[h264_cam_node-1] [INFO] [1675130627.850859103] [h264_cam_node]: Parameter frame_id: camera_frame
[h264_cam_node-1] [INFO] [1675130627.850864616] [h264_cam_node]: Parameter camera_info_path: info.ini
[h264_cam_node-1] [video4linux2,v4l2 @ 0x56370007a180] Cannot find a proper format for codec 'h264' (id 27), pixel format 'none' (id -1)
[h264_cam_node-1] Assertion *codec_id != AV_CODEC_ID_NONE failed at src/libavdevice/v4l2.c:815
[ERROR] [h264_cam_node-1]: process has died [pid 23291, exit code -6, cmd '/home/mtk/h264_image_transport/install/h264_image_transport/lib/h264_image_transport/h264_cam_node --ros-args -r __node:=h264_cam_node --params-file /tmp/launch_params_w6o2nsmy'].

running the republish executable as it is generates no output. Launching the example_launch.py file afterwards or as standalone leads to generating Assertion codec_id != AV_CODEC_ID_NONE failed at src/libavdevice/v4l2.c:815 error and no further output is generated.

Several header files have new names, etc.