[refactored version of #221] Total refactoring #231

knorth55 · 2023-03-01T04:18:03Z

The node implemented as singleton with monopolistic device access model (one node per device)
Moved and separated into different blocks the the code using V4L2, ROS and FFMPEG APIs
Removed message pointers completely, the node uses runtime-constant shared object addresses
Debugged FFMPEG decoder algorithm, removed memory leak. Closes Memory leak in develop branch, in UsbCam::mjpeg2rgb() #211
Added (using @flynneva's code) the conditional compilation directives to exploit properly versioned libavcodec API. Closes Fix compiler warnings, replace deprecated code #207
Closes [Community assistance needed] libavcodec multi-version compatibility #203
Added separated launch files to run the node and to test it using image_view. Removed image_view from ROS dependencies.
Node parameters with convenient defaults moved from the launch file to YML file for the parameter server
Documented parameter names and default values

include/usb_cam/usb_cam.h

launch/usb_cam-test.launch

knorth55 · 2023-03-01T04:30:07Z

I rebased #221 and remove weird commits.
I also squash some fix commits into one.

@twdragon can you check this PR?

twdragon · 2023-03-01T11:32:55Z

I rebased #221 and remove weird commits. I also squash some fix commits into one.

@twdragon can you check this PR?

@knorth55 thank you, I really appreciate your help. Do you propose to close #221 and start working here?

twdragon · 2023-03-01T11:40:20Z

@knorth55 sorry, but I am not a member of ros-drivers team who manage maintainers( Maybe, @flynneva or @tfoote can do

knorth55 · 2023-03-01T11:41:51Z

Do you propose to close #221 and start working here?

Yes.
I propose to use #231 and add commits if you want.

knorth55 · 2023-03-01T11:44:38Z

Maybe, @flynneva or @tfoote can do

Thanks!
@flynneva @tfoote can you add me as a maintainer of this package for ROS1?

twdragon · 2023-03-01T11:48:46Z

@knorth55 I do not want to mess up with the commits, so we can leave this PR as is and start reviewing here. If you agree with the current state, I will be very happy to hear from you!

twdragon · 2023-03-01T11:49:13Z

@knorth55 I built and tested the package in the state of this PR, so we can proceed

include/usb_cam/usb_cam.h

tfoote · 2023-03-01T21:01:58Z

@twdragon 's request I have added @knorth55 to the usb_cam team to help with maintenance.

knorth55 · 2023-03-02T00:16:30Z

@tfoote thank you!

knorth55 · 2023-03-02T00:27:10Z

@tfoote
by the way, ros-driver/usb_cam team has admin permission of this repo.
https://github.com/orgs/ros-drivers/teams/usb_cam/repositories
so i can edit settings of this repo.

and in this repo setting, there are already several collaborators who are not listed in ros-driver/usb_cam team.
https://github.com/ros-drivers/usb_cam/settings/access
is this permission setting correct?

I'm also in ros-driver/audio team, and the team only has write permission ofaudio_common.

knorth55 · 2023-03-02T06:59:17Z

I can run my Jabra Panacast camera with origin/develop branch,
but I got SegmentationFault with the same camera and same command.

$ rosrun usb_cam usb_cam_node _video_device:=/dev/video2 _image_width:=3840 _image_height:=1080 pixel_format:=mjpeg _color_format:=yuv420p
[ INFO] [1677740250.297930362] [/usb_cam:ros.usb_cam]: Initializing ROS V4L USB camera 'head_camera' (/dev/video2) at 3840x1080 via mmap (uyvy) at 10 FPS
[ INFO] [1677740250.411452243] [/usb_cam:ros.camera_info_manager]: using default calibration URL
[ INFO] [1677740250.411592579] [/usb_cam:ros.camera_info_manager]: camera calibration URL: file:///home/knorth55/.ros/camera_info/head_camera.yaml
[ INFO] [1677740250.411726544] [/usb_cam:ros.camera_calibration_parsers]: Unable to open camera calibration file [/home/knorth55/.ros/camera_info/head_camera.yaml]
[ WARN] [1677740250.411821811] [/usb_cam:ros.camera_info_manager]: Camera calibration file /home/knorth55/.ros/camera_info/head_camera.yaml not found.
[ INFO] [1677740250.414527058] [/usb_cam:ros.usb_cam]: Advertising std_srvs::Empty start service under name 'start_capture'
[ INFO] [1677740250.415240639] [/usb_cam:ros.usb_cam]: Advertising std_srvs::Empty suspension service under name 'stop_capture'
[ INFO] [1677740250.415789752] [/usb_cam:ros.usb_cam]: Advertising std_srvs::Trigger supported formats information service under name 'supported_formats'
[ INFO] [1677740250.416311926] [/usb_cam:ros.usb_cam]: Advertising std_srvs::Trigger supported V4L controls information service under name 'supported_controls'
Opening streaming device /dev/video2
Video4Linux: IOCTL is not supported
Video4linux: Querying V4L2 driver for available controls (register base 0x980900, 0..99)
Sorting control names:
	white_balance_temperature_auto
	brightness
	contrast
	saturation
	gain
	white_balance_temperature
	sharpness
	backlight_compensation
	pan_absolute
	tilt_absolute
	zoom_absolute
	pan_speed
	tilt_speed
[ WARN] [1677740250.526545673] [/usb_cam:ros.usb_cam]: NOTE: the parameters generated for V4L intrinsic camera controls will be placed under namespace 'intrinsic_controls'
[ INFO] [1677740250.526626492] [/usb_cam:ros.usb_cam]: Use 'intrinsic_controls/ignore' list to enumerate the controls provoking errors or the ones you just want to keep untouched
[ INFO] [1677740250.526641342] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'white_balance_temperature_auto':
	White Balance Temperature, Auto, min = 0, max = 1, step = 1, flags = 0x0 [1] (bool 1/0)
[ INFO] [1677740250.527214518] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/white_balance_temperature_auto exposed with value 1
[ INFO] [1677740250.527234958] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'brightness':
	Brightness, min = 0, max = 255, step = 1, flags = 0x0 [127]
[ INFO] [1677740250.527697976] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/brightness exposed with value 127
[ INFO] [1677740250.527736130] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'contrast':
	Contrast, min = 0, max = 191, step = 1, flags = 0x0 [140]
[ INFO] [1677740250.528169991] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/contrast exposed with value 140
[ INFO] [1677740250.528189588] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'saturation':
	Saturation, min = 128, max = 176, step = 1, flags = 0x0 [143]
[ INFO] [1677740250.528573045] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/saturation exposed with value 143
[ INFO] [1677740250.528594548] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'gain':
	Gain, min = 0, max = 255, step = 1, flags = 0x0 [229]
[ INFO] [1677740250.529048198] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/gain exposed with value 229
[ INFO] [1677740250.529084022] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'white_balance_temperature':
	White Balance Temperature, min = 0, max = 6500, step = 1, flags = 0x10 [3700]
[ INFO] [1677740250.529474488] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/white_balance_temperature exposed with value 3700
[ INFO] [1677740250.529496831] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'sharpness':
	Sharpness, min = 0, max = 255, step = 1, flags = 0x0 [140]
[ INFO] [1677740250.529872781] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/sharpness exposed with value 140
[ INFO] [1677740250.529908416] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'backlight_compensation':
	Backlight Compensation, min = 0, max = 255, step = 1, flags = 0x0 [229]
[ INFO] [1677740250.530278819] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/backlight_compensation exposed with value 229
[ INFO] [1677740250.530301440] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'pan_absolute':
	Pan (Absolute), min = -302400, max = 302400, step = 1, flags = 0x0 [0]
[ INFO] [1677740250.530669857] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/pan_absolute exposed with value 0
[ INFO] [1677740250.530705871] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'tilt_absolute':
	Tilt (Absolute), min = -72000, max = 72000, step = 1, flags = 0x0 [0]
[ INFO] [1677740250.531044429] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/tilt_absolute exposed with value 0
[ INFO] [1677740250.531061790] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'zoom_absolute':
	Zoom, Absolute, min = 1, max = 75, step = 1, flags = 0x0 [1]
[ INFO] [1677740250.531361620] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/zoom_absolute exposed with value 1
[ INFO] [1677740250.531378178] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'pan_speed':
	Pan (Speed), min = 0, max = 10, step = 1, flags = 0x0 [5]
[ INFO] [1677740250.531757206] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/pan_speed exposed with value 5
[ INFO] [1677740250.531787194] [/usb_cam:ros.usb_cam]: Attempting to generate ROS parameter for V4L2 control 'tilt_speed':
	Tilt (Speed), min = 0, max = 10, step = 1, flags = 0x0 [5]
[ INFO] [1677740250.532119423] [/usb_cam:ros.usb_cam]: Parameter intrinsic_controls/tilt_speed exposed with value 5
Video4linux: Setting up auxiliary camera parameters
Video4linux: error setting camera parameter: 'white_balance_temperature: Connection timed out
VIDIOC_S_CTRL: failed: Connection timed out
'
Video4linux: cannot set V4L control white_balance_temperature
Video4linux: error setting camera parameter: 'sharpness: Protocol error
VIDIOC_S_CTRL: failed: Protocol error
'
Video4linux: cannot set V4L control sharpness
Video4linux: error setting camera parameter: 'backlight_compensation: Protocol error
VIDIOC_S_CTRL: failed: Protocol error
'
Video4linux: cannot set V4L control backlight_compensation
Video4linux: error setting camera parameter: 'Error setting controls: Protocol error
VIDIOC_S_EXT_CTRLS: failed: Protocol error
'
Video4linux: cannot set V4L control pan_absolute
Segmentation fault

$ v4l2-ctl --list-formats-ext -d /dev/video2
ioctl: VIDIOC_ENUM_FMT
	Index       : 0
	Type        : Video Capture
	Pixel Format: 'NV12'
	Name        : Y/CbCr 4:2:0
		Size: Discrete 1920x1080
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
		Size: Discrete 960x544
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
		Size: Discrete 640x360
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
		Size: Discrete 3840x1080
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
		Size: Discrete 4800x1200
			Interval: Discrete 0.067s (15.000 fps)

	Index       : 1
	Type        : Video Capture
	Pixel Format: 'MJPG' (compressed)
	Name        : Motion-JPEG
		Size: Discrete 1920x1080
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
		Size: Discrete 960x544
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
		Size: Discrete 640x360
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.037s (27.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
		Size: Discrete 3840x1080
			Interval: Discrete 0.045s (22.000 fps)
			Interval: Discrete 0.067s (15.000 fps)

@twdragon

knorth55 · 2023-03-02T08:43:27Z

~~Hmm, I rebuild the branch, and now it works...~~
~~it is quire weird behavior...~~

I was running wrong command.
It was my misunderstanding, sorry @twdragon

- rosrun usb_cam usb_cam_node _video_device:=/dev/video2 _image_width:=3840 _image_height:=1080 pixel_format:=mjpeg _color_format:=yuv420p
+ rosrun usb_cam usb_cam_node _video_device:=/dev/video2 _image_width:=3840 _image_height:=1080 _pixel_format:=mjpeg _color_format:=yuv420p

knorth55 · 2023-03-02T10:57:53Z

@twdragon
I found this PR has memory leak.
I thought this PR solved #211, but it seems #211 is not solved?

I continued running this PR and the memory usage got larger and larger.
every 1 seconds 0.1% of my PC memory leaks.
in the video, the memory usage reached to 10%, and continues going up.
I kept running the node, and the memory usage caused computer's freeze.

usb_cam_memory_leak_compressed.mp4

knorth55 · 2023-03-02T11:08:43Z

I found this memory leak issue also occurs in origin/develop branch, which is reported in #211
but 0.3.6 tag does not have the memory leak issue, so we should fix this issue before the release.

the video is the case with 0.3.6 and the memory usage is always 1.1%.

usb_cam_0.3.6_memory_compressed.mp4

@twdragon
I thinks this memory leak is a big issue, and should be splitted from this PR.
I open a PR #233 to solve the issue first.
but this PR also have the memory leak problems, so please check it.

knorth55 · 2023-03-02T11:28:41Z

I fixed the memory leak probrem in d9b7ac9 (#231)

now the memory usage stops at 1.1% as expected.

usb_cam_pr_fix_memory_leak_compressed.mp4

I trusted the commit message that #211 is fixed in this PR, but actually #211 was not solved in this PR...
Now we should be cautious to merge this PR.
This PR seems not properly tested, so we should take more time to check this PR.
If there are serious issue solution in this PR, the issue solution should be merged first, and the refactoring commits should be merged later in this PR.

twdragon · 2023-03-02T12:15:54Z

I fixed the memory leak probrem in d9b7ac9 (#231)

now the memory usage stops at 1.1% as expected.

I trusted the commit message that #211 is fixed in this PR, but actually #211 was not solved in this PR... Now we should be cautious to merge this PR. This PR seems not properly tested, so we should take more time to check this PR. If there are serious issue solution in this PR, the issue solution should be merged first, and the refactoring commits should be merged later in this PR.

Thank you! @knorth55 I will test thoroughly the memory issues dedicated to FFMPEG functions because it occurs literally because only of them. Thank you for notifying me and for your fix! I completely agree with you, we should merge #233 first because I had used the libavcodec function mistakenly. I perform the test today. to prove that there are no memory leaks anymore.

The question: if I discover that the node works normally in all accessible decoder modes, can I merge #233 by myself? I can test for all: YUV, MJPEG, H.264. And do we need to rebase again, what do you think?

knorth55 · 2023-03-02T12:56:43Z

The question: if I discover that the node works normally in all accessible decoder modes, can I merge #233 by myself? I can test for all: YUV, MJPEG, H.264. And do we need to rebase again, what do you think?

Yes, you can merge #233 when you finish tests and find no error.
I will rebase this PR after the merge.

twdragon · 2023-03-02T23:16:56Z

@knorth55 I merged #233 so this PR is ready for rebase and including of the fix

twdragon · 2023-03-03T11:48:43Z

@knorth55 thank you! Can we now prepare the release of the package in its current state and then announce the release of the new version after this PR would be merged? What do you think?

knorth55 · 2023-03-03T12:03:38Z

Can we now prepare the release of the package in its current state and then announce the release of the new version after this PR would be merged? What do you think?

@twdragon
I agree. but I submit one more PR #234 .
After merging #234, we can release 0.3.7.
Then, we can move forward to merge this PR and prepare the next release 0.3.8.

twdragon · 2023-03-03T12:09:40Z

@knorth55 done with #234. I can resolve the file and make #234 a part of this PR, it does not make any sense here. Do you agree?

@flynneva

- The node implemented as singleton with monopolistic device access model (one node per device) - Moved and separated into different blocks the the code using V4L2, ROS and FFMPEG APIs - Removed message pointers completely, the node uses runtime- constant shared object addresses - Debugged FFMPEG decoder algorithm, removed memory leak. Closes ros-drivers#211 - Added (using @flynneva's code) the conditional compilation directives to exploit properly versioned libavcodec API. Closes ros-drivers#207 - Closes ros-drivers#203 - Added separated launch files to run the node and to test it using image_view. Removed image_view from ROS dependencies. - Node parameters with convenient defaults moved from the launch file to YML file for the parameter server - Documented parameter names and default values

- Implemented copyless publishing to avoid blinks on some slow sensors

Co-authored-by: Shingo Kitagawa <[email protected]>

knorth55 · 2023-03-03T12:23:44Z

@twdragon No worries. I rebased.

knorth55 · 2023-03-03T12:32:13Z

@tfoote Hi, sorry for bothering you many times.
Can you give me the write permission of https://github.com/ros-gbp/usb_cam-release ?

flynneva · 2023-03-06T04:29:53Z

@knorth55 @tfoote I am a little late to the party here (sorry it has been busy start to the year for me) but I am pretty confused by this PR and the other ROS 1 ones you guys are targeting to the develop branch.

From #203 my understanding was the solution was:

Refactor ros2 branch so that it uses a base usb_cam C++ library
Use this base usb_cam lib for both ROS 1 and ROS 2 nodes

That would mean all we would need to do is write small / thin wrapper for ROS 1 and add it to the ros2 branch. Once we do that, then we can deprecate the ros1 develop branch and rename the ros2 branch to main and have both ROS 1 and ROS 2 PRs target the same branch.

This PR is copying over a lot of code from the ros2 branch back to develop...are we sure that is a good idea?

knorth55 · 2023-03-06T05:45:07Z

@flynneva I think this is a kind of backport PR from ros2 branch to ros1.
Merging ros1 and ros2 branch is quite good idea, but it will need a lot of works.
There are two strategies to merge ros1 and ros2 branch

Use C++ macros
Use ros1-ros2 bridge
Write good CMakelists.txt

My plan is the first one or the third one.
I don't want to do the second one, because the ROS1 user needs to install ROS2.
Because there are a lot of API changes between ROS1 and ROS2, the first one will be difficult, too.
In order to do either 1. or 3., this backport PR is a good first-step for the plan.
(because ROS1 and ROS2 has different target platform, we need to use macros, though)

So the only problem is who will do the merging.
I don't use ros2, and have no benefits to do the task because there is ros1-ros2 bridge.
(Also, some parts of ROS2 are harder to use than ROS1, which I don't like ROS2)
The merging costs us a lot, so the plan is really a long path for me.

twdragon · 2023-03-20T15:49:57Z

@knorth55 @flynneva can I ask you guys for an opinion? As I prepared the version of this package with essential changes in user workflow and configuration, maybe it will be more convenient to fork and document the entire package and release it separately, let the users test it, and then merge after. What do you think?

flynneva · 2023-03-21T03:57:52Z

@twdragon i don't see why you can't just merge it here if @knorth55 approves of the changes.

Just I've already shared my thoughts about these changes above, and I think a lot of it is duplicated work from the ROS2 branch already.

I think it'd be better if we combine our efforts and work together on the same branch / code instead of developing the same features side by side.

flynneva · 2023-03-21T03:59:44Z

@knorth55 @twdragon since both of you are the maintainers of the ROS 1 branch of this repo now, please feel free to discuss about what you'd like to do as far as the ROS 1 side of things go and go from there 🙏🏼

knorth55 · 2023-03-21T06:34:57Z

@twdragon Sorry for waiting you. I'm preparing the ROS1 release, so please wait to merge this PR.

ros-gbp/usb_cam-release#2

twdragon · 2023-03-21T09:14:35Z

@knorth55 @flynneva excellent, so we agree 🤝 Let's proceed here :)

knorth55 · 2023-03-24T09:16:27Z

@twdragon I did the release of usb_cam now. Sorry for waiting you.
ros/rosdistro#36567
ros/rosdistro#36568

twdragon · 2023-03-27T13:33:02Z

@knorth55 @flynneva sorry for the long silence. What plan may we have now? Will we conjoin ROS 1 and ROS2 code with CMake and use this PR as the initial point?

knorth55 · 2023-03-27T22:05:17Z

@twdragon i havent checked ros1 and ros2 merged pr.
we should move forward to the merge, but i cannot tkae enough time to do so, so i will check i slow pace.
and i also want to appreciate your great work (this PR).
so imo, i want to merge this pr first, and then try merging ros1 and ros2 branch.

twdragon · 2023-03-29T09:16:36Z

@knorth55 thank you! I also tested this version again and it does not seem to have major issues. So, if you and @flynneva agree, I can merge this PR next week, and then prepare a new README.md or wiki article to let the users try the new configuration workflow. Then we can think about refreshing the idea of merging ROS1/ROS2 branches in a more modular way. What do you think?

knorth55 · 2023-03-29T09:35:59Z

@twdragon I agree. We can move forward to mege this PR to develop branch (ROS1 branch).
We will wait release for several month and check the bug with bug report.

twdragon · 2023-04-07T09:03:12Z

@knorth55 @flynneva, as I said before, I am ready to merge. I will merge this PR today and update the documentation on the ROS wiki (the old version of the documentation is already preserved)

twdragon · 2023-04-07T17:20:38Z

@knorth55 documentation http://wiki.ros.org/usb_cam updated

knorth55 · 2023-04-07T19:56:19Z

@twdragon good! thank you!

knorth55 mentioned this pull request Mar 1, 2023

Total refactoring #221

Closed

knorth55 commented Mar 1, 2023

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knorth55 commented Mar 1, 2023

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twdragon added this to the libavcodec multi-version compatibility milestone Mar 1, 2023

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twdragon added the enhancement label Mar 1, 2023

knorth55 mentioned this pull request Mar 2, 2023

fix memory leak in usb_cam.cpp #233

Merged

knorth55 force-pushed the twdragon-develop branch from d9b7ac9 to 6d8948b Compare March 3, 2023 09:32

twdragon and others added 7 commits March 3, 2023 21:22

Updated abstract class primitive

7b12ac3

boost::bind workaround update (by @knorth55)

49b040d

Direct assignment of the byte array

1ade216

- Implemented copyless publishing to avoid blinks on some slow sensors

Fix for libv4l-dev dependency

5eee66c

Added reference to ros/forwards.h

68aaad4

Co-authored-by: Shingo Kitagawa <[email protected]>

refactor usb_cam launches

46d81a5

fix memory leak in camera_driver.cpp

3c7405c

knorth55 force-pushed the twdragon-develop branch from 6d8948b to 3c7405c Compare March 3, 2023 12:23

knorth55 mentioned this pull request Mar 6, 2023

[Community assistance needed] libavcodec multi-version compatibility #203

Closed

tfoote mentioned this pull request Mar 8, 2023

access to usb_cam-release for releasing in ros1 ros-gbp/usb_cam-release#2

Closed

twdragon merged commit d5d5501 into ros-drivers:develop Apr 7, 2023

knorth55 deleted the twdragon-develop branch April 7, 2023 19:56

twdragon mentioned this pull request Apr 13, 2023

Camera FLIP / ROTATE Support #66

Closed

[refactored version of #221] Total refactoring #231

[refactored version of #221] Total refactoring #231

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