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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(web_video_server)
find_package(ament_cmake_ros REQUIRED)
find_package(async_web_server_cpp REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(image_transport REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Boost REQUIRED COMPONENTS thread)
find_package(PkgConfig REQUIRED)
pkg_check_modules(avcodec libavcodec REQUIRED)
pkg_check_modules(avformat libavformat REQUIRED)
pkg_check_modules(avutil libavutil REQUIRED)
pkg_check_modules(swscale libswscale REQUIRED)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
###################################################
## Declare things to be passed to other projects ##
###################################################
###########
## Build ##
###########
## Specify additional locations of header files
include_directories(include
${Boost_INCLUDE_DIRS}
${avcodec_INCLUDE_DIRS}
${avformat_INCLUDE_DIRS}
${avutil_INCLUDE_DIRS}
${swscale_INCLUDE_DIRS}
)
add_compile_options(-Wno-deprecated-declarations)
## Declare a cpp library
add_library(${PROJECT_NAME}
src/web_video_server.cpp
src/image_streamer.cpp
src/libav_streamer.cpp
src/vp8_streamer.cpp
src/h264_streamer.cpp
src/vp9_streamer.cpp
src/multipart_stream.cpp
src/ros_compressed_streamer.cpp
src/jpeg_streamers.cpp
src/png_streamers.cpp
)
rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::ComposableWebVideoServer")
ament_target_dependencies(${PROJECT_NAME}
async_web_server_cpp cv_bridge image_transport rclcpp rclcpp_components sensor_msgs)
## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}
${Boost_LIBRARIES}
${OpenCV_LIBS}
${avcodec_LIBRARIES}
${avformat_LIBRARIES}
${avutil_LIBRARIES}
${swscale_LIBRARIES}
)
## Declare a cpp executable
add_executable(${PROJECT_NAME}_node
src/web_video_server_node.cpp
)
target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME})
#############
## Install ##
#############
## Mark executables and/or libraries for installation
install(
TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(TARGETS ${PROJECT_NAME}_node
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
)
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(async_web_server_cpp cv_bridge image_transport rclcpp rclcpp_components sensor_msgs)
ament_package()