Refactor GStreamerProxy to be a composable node

.clang-format

@@ -12,8 +12,11 @@ AlignAfterOpenBracket: AlwaysBreak
 ConstructorInitializerIndentWidth: 0
 ContinuationIndentWidth: 2
 DerivePointerAlignment: false
+AllowAllParametersOfDeclarationOnNextLine: false
 PointerAlignment: Middle
 PackConstructorInitializers: Never
+BinPackArguments: false
+BinPackParameters: false
 
 # Configure brace wrapping cases
 BreakBeforeBraces: Custom

.clang-tidy

@@ -1,3 +1,4 @@
+
 ---
 Checks: >
   -*,
@@ -13,8 +14,6 @@ Checks: >
   -google-readability-namespace-comments,
   -google-runtime-references,
   -misc-non-private-member-variables-in-classes,
-  -modernize-return-braced-init-list,
-  -modernize-use-trailing-return-type,
   -readability-braces-around-statements,
   -readability-identifier-length,
   -readability-magic-numbers,

.devcontainer/Dockerfile

@@ -28,18 +28,26 @@ RUN apt-get -q update \
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
     && apt-get -q install --no-install-recommends -y \
-    gir1.2-gstreamer-1.0\
-    gstreamer1.0-libav \
-    gstreamer1.0-plugins-bad \
+    gir1.2-gstreamer-1.0 \
+    libgstreamer1.0-dev \
+    libgstreamer-plugins-base1.0-dev \
+    libgstreamer-plugins-bad1.0-dev \
     gstreamer1.0-plugins-base \
     gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-bad \
     gstreamer1.0-plugins-ugly \
+    gstreamer1.0-libav \
     gstreamer1.0-tools \
+    gstreamer1.0-x \
+    gstreamer1.0-alsa \
+    gstreamer1.0-gl \
+    gstreamer1.0-gtk3 \
+    gstreamer1.0-qt5 \
+    gstreamer1.0-pulseaudio \
     libcairo2-dev \
     libgif-dev \
     libjpeg-dev \
-    python3-gi \
-    python3-pip\
+    python3-pip \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
@@ -82,8 +90,8 @@ RUN sudo apt-get -q update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
-    && colcon build \
-    && echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
+    # && colcon build \
+    # && echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
     && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
 
 WORKDIR $USER_WORKSPACE

.devcontainer/nouveau/devcontainer.json

@@ -9,19 +9,19 @@
     "target": "desktop"
   },
   "runArgs": [
-    "--network=host",
-    "--cap-add=SYS_PTRACE",
-    "--security-opt=seccomp:unconfined",
-    "--security-opt=apparmor:unconfined",
-    "--volume=/dev:/dev",
-    "--privileged",
-    "--volume=/run/user/1000:/run/user/1000"
+		"--network=host",
+		"--cap-add=SYS_PTRACE",
+		"--security-opt=seccomp:unconfined",
+		"--security-opt=apparmor:unconfined",
+		"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+		"--ipc=host"
   ],
   "containerEnv": {
-    "DISPLAY": "${localEnv:DISPLAY}",
-    "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
-    "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
-    "PULSE_SERVER": "${localEnv:PULSE_SERVER}"
+		"DISPLAY": "${localEnv:DISPLAY}",
+		"WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
+		"XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
+		"PULSE_SERVER": "${localEnv:PULSE_SERVER}",
+		"LIBGL_ALWAYS_SOFTWARE": "1"
   },
   "customizations": {
     "vscode": {

.github/workflows/format.yml

@@ -20,6 +20,9 @@ jobs:
         with:
           python-version: "3.12"
 
+      - name: Install clang-format-18
+        run: sudo apt-get install clang-format-18
+
       - name: Run pre-commit
         uses: pre-commit/[email protected]
         id: precommit

.gitignore

@@ -5,3 +5,5 @@ log
 
 # virtualenv
 .venv
+
+__pycache__/

.pre-commit-config.yaml

@@ -10,8 +10,19 @@ repos:
     hooks:
       - id: codespell
 
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.8
+    hooks:
+    -   id: clang-format
+        types_or: [c++, c]
+
+  - repo: https://github.com/BlankSpruce/gersemi
+    rev: 0.13.5
+    hooks:
+    - id: gersemi
+
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -20,9 +31,6 @@ repos:
       - id: check-yaml
       - id: check-xml
       - id: check-merge-conflict
-      - id: check-symlinks
-      - id: debug-statements
-      - id: destroyed-symlinks
       - id: detect-private-key
       - id: end-of-file-fixer
       - id: mixed-line-ending

.vscode/c_cpp_properties.json

@@ -5,7 +5,7 @@
       "includePath": [
         "${workspaceFolder}/**",
         "/opt/ros/rolling/include/**",
-        "/usr/include/gz/**"
+        "/usr/include/**"
       ],
       "defines": [],
       "compilerPath": "/usr/bin/gcc",

README.md

@@ -65,8 +65,18 @@ messages. After building `barlus_gstreamer_proxy`, the node can be launched
 using
 
 ```bash
-ros2 launch barlus_gstreamer_proxy gstreamer_proxy.launch.yaml
+ros2 launch barlus_gstreamer_proxy gstreamer_proxy.launch.py
 ```
 
 The frames will be published to the topic `/barlus/image_raw`. The camera
 intrinsics are available on the topic `/barlus/camera_info`.
+
+## Camera calibration
+
+The camera intrinsics can be retrieved using the [camera_calibration](https://docs.ros.org/en/rolling/p/camera_calibration/index.html)
+node. For example, to calibrate the camera using an 8x6 chessboard, run the
+following:
+
+```bash
+ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.108 image:=/barlus/image_mono camera:=/barlus --no-service-check
+```

barlus_gstreamer_proxy/CMakeLists.txt

@@ -0,0 +1,73 @@
+cmake_minimum_required(VERSION 3.24)
+project(barlus_gstreamer_proxy)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+include(GNUInstallDirs)
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+    rclcpp
+    geometry_msgs
+    rclcpp_components
+    cv_bridge
+    camera_info_manager
+    image_transport
+)
+
+foreach(pkg IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+    find_package(${pkg} REQUIRED)
+endforeach()
+
+find_package(ament_cmake REQUIRED)
+find_package(generate_parameter_library REQUIRED)
+
+find_package(PkgConfig REQUIRED)
+pkg_search_module(gstreamer REQUIRED IMPORTED_TARGET gstreamer-1.0)
+pkg_search_module(gstreamer-app REQUIRED IMPORTED_TARGET gstreamer-app-1.0)
+
+generate_parameter_library(gstreamer_proxy_parameters
+    src/gstreamer_proxy_parameters.yaml
+)
+
+add_library(gstreamer_proxy_library SHARED)
+
+target_sources(
+    gstreamer_proxy_library
+    PRIVATE src/gstreamer_proxy.cpp
+    PUBLIC
+        FILE_SET HEADERS
+        BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include
+        FILES
+            ${CMAKE_CURRENT_SOURCE_DIR}/include/barlus_gstreamer_proxy/gstreamer_proxy.hpp
+)
+target_link_libraries(
+    gstreamer_proxy_library
+    PRIVATE gstreamer_proxy_parameters
+    PUBLIC PkgConfig::gstreamer
+    PUBLIC PkgConfig::gstreamer-app
+)
+ament_target_dependencies(gstreamer_proxy_library PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_compile_features(gstreamer_proxy_library PUBLIC cxx_std_20)
+
+rclcpp_components_register_node(gstreamer_proxy_library
+    PLUGIN "barlus::GStreamerProxy"
+    EXECUTABLE gstreamer_proxy
+)
+
+install(
+    TARGETS gstreamer_proxy_library gstreamer_proxy_parameters
+    EXPORT export_gstreamer_proxy_library
+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    FILE_SET HEADERS
+)
+
+install(DIRECTORY config launch DESTINATION share/barlus_gstreamer_proxy)
+
+ament_export_targets(export_gstreamer_proxy_library HAS_LIBRARY_TARGET)
+ament_export_dependencies($THIS_PACKAGE_INCLUDE_DEPENDS)
+
+ament_package()