Replace h264_image_transport 3rd party package by codec_image_transpo…

…rt ROS

CMakeLists.txt

@@ -8,7 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
   cv_bridge
   dynamic_reconfigure
   geometry_msgs
-  h264_image_transport
+  codec_image_transport
   image_transport
   message_generation
   nav_msgs
@@ -43,7 +43,16 @@ generate_dynamic_reconfigure_options(
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-  CATKIN_DEPENDS cv_bridge dynamic_reconfigure geometry_msgs h264_image_transport image_transport message_runtime nav_msgs rospy sensor_msgs std_msgs
+  CATKIN_DEPENDS cv_bridge 
+                 dynamic_reconfigure 
+                 geometry_msgs 
+                 codec_image_transport
+                 image_transport 
+                 message_runtime 
+                 nav_msgs 
+                 rospy 
+                 sensor_msgs 
+                 std_msgs
 #  DEPENDS system_lib
 )
 
@@ -61,8 +70,6 @@ include_directories(
 #  ${catkin_INCLUDE_DIRS}
 #  ${OpenCV_INCLUDE_DIRS}
 #)
-#add_executable(test_h264_sub src/test_h264_sub.cpp)
-#target_link_libraries(test_h264_sub ${catkin_LIBRARIES} ${OpenCV_LIBS})
 
 #############
 ## Install ##

package.xml

@@ -23,7 +23,7 @@
   <build_depend>cv_bridge</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>h264_image_transport</build_depend>
+  <build_depend>codec_image_transport</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>nav_msgs</build_depend>
   <build_depend>rospy</build_depend>
@@ -40,7 +40,7 @@
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>dynamic_reconfigure</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>h264_image_transport</exec_depend>
+  <exec_depend>codec_image_transport</exec_depend>
   <exec_depend>image_transport</exec_depend>
   <exec_depend>message_runtime</exec_depend>
   <exec_depend>nav_msgs</exec_depend>

src/tello_driver_node.py

@@ -2,11 +2,10 @@
 import rospy
 from std_msgs.msg import Empty, UInt8, Bool
 from std_msgs.msg import UInt8MultiArray
-from sensor_msgs.msg import Image
+from sensor_msgs.msg import Image, CompressedImage
 from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
 from dynamic_reconfigure.server import Server
-from h264_image_transport.msg import H264Packet
 from tello_driver.msg import TelloStatus
 from tello_driver.cfg import TelloConfig
 from cv_bridge import CvBridge, CvBridgeError
@@ -123,7 +122,7 @@ def __init__(self):
             'status', TelloStatus, queue_size=1, latch=True)
         if self.stream_h264_video:
             self.pub_image_h264 = rospy.Publisher(
-                'image_raw/h264', H264Packet, queue_size=10)
+                'image_raw/h264', CompressedImage, queue_size=10)
         else:
             self.pub_image_raw = rospy.Publisher(
                 'image_raw', Image, queue_size=10)
@@ -436,7 +435,7 @@ def cb_shutdown(self):
 
     def cb_h264_frame(self, event, sender, data, **args):
         frame, seq_id, frame_secs = data
-        pkt_msg = H264Packet()
+        pkt_msg = CompressedImage()
         pkt_msg.header.seq = seq_id
         pkt_msg.header.frame_id = self.caminfo.header.frame_id
         pkt_msg.header.stamp = rospy.Time.from_sec(frame_secs)

src/test_h264_sub.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python2
 
 import rospy
-from h264_image_transport.msg import H264Packet
+from sensor_msgs.msg import CompressedImage
 import av
 import cv2
 import numpy
@@ -55,7 +55,7 @@ def callback(msg):
 
 def main():
     rospy.init_node('h264_listener')
-    rospy.Subscriber("/tello/image_raw/h264", H264Packet, callback)
+    rospy.Subscriber("/tello/image_raw/h264", CompressedImage, callback)
     container = av.open(stream)
     rospy.loginfo('main: opened')
     for frame in container.decode(video=0):