Fix/ros2 jazzy #72
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Fix/ros2 jazzy #72
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Ah there it is. Found the commit that removed the macros... |
Ah no... The macro that's being used isn't removed in that PR. Can't find the commit that removed the file. |
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Public API Changes
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Description
Get build to work on Ros2 Jazzy, Ubuntu 24.04.
There are some diffs applied to the cloned webrtc source code (first two bullet points below) I'm not sure how to best apply them in this PR. Maybe apply a patch after pulling the code or something...
Open problems:
webrtc/build/webrtc/src/rtc_base/third_party/base64/base64.h: add#include <cstdint>webrtc/build/webrtc/src/build/util/lastchange.py: replaceutcfromtimestampwithfromtimestampon L318RTC_DISALLOW_COPY_AND_ASSIGNmacro, so currently it's commented out. Edit: Found it and fixed.vision_opencvand checked out7a47d35, and renamed a few .h to .hpp - I'm not sure if that's needed though, and I forgot where I read that this is required. Edit: yeah, seems to be needed.#71
After launching:
The webserver launches fine and shows the available topics:
But when trying to establish a connection, it crashes.
[webrtc_ros_server_node-2] [INFO] [1720796065.255299670] [webrtc_server]: JSON: {"type":"configure","actions":[{"type":"add_stream","id":"webrtc_ros-stream-975963065"},{"type":"add_video_track","stream_id":"webrtc_ros-stream-975963065","id":"webrtc_ros-stream-975963065/subscribed_video","src":"ros_image:/optical_camera_rear/image_raw"}]} [webrtc_ros_server_node-2] [webrtc_ros_server_node-2] [webrtc_ros_server_node-2] # [webrtc_ros_server_node-2] # Fatal error in: ../../../src/webrtc_ros/webrtc/build/webrtc/src/pc/peer_connection.cc, line 816 [webrtc_ros_server_node-2] # last system error: 0 [webrtc_ros_server_node-2] # Check failed: !IsUnifiedPlan() [ERROR] [webrtc_ros_server_node-2]: process has died [pid 382174, exit code -6, cmd '/home/er/ros2_ws/install/webrtc_ros/lib/webrtc_ros/webrtc_ros_server_node --ros-args -r __node:=webrtc_server --params-file /tmp/launch_params_y3ih5v_0']. [webrtc_ros_server_node-2] # AddStream is not available with Unified Plan SdpSemantics. Please use AddTrack instead.Looks like Unified Plan semantics deprecated a few of the older APIs and the webrtc client need to be rewritten...
https://webrtc.org/getting-started/unified-plan-transition-guide
There's a document on how to migrate native C++ applications to Unified Plan, but I can't access the doc...
I found this page that maybe (?) contains a copy of the document https://blog.csdn.net/dotphoenix/article/details/107480133 but no idea.