Move base classes to web_video_server_streamers library

Author: bjsowa

CMakeLists.txt

@@ -13,6 +13,7 @@ find_package(image_transport REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
+find_package(rmw REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
 find_package(OpenCV REQUIRED)
@@ -43,8 +44,6 @@ endif()
 ## Declare a cpp library
 add_library(${PROJECT_NAME} SHARED
   src/web_video_server.cpp
-  src/image_transport_streamer.cpp
-  src/libav_streamer.cpp
   src/multipart_stream.cpp
   src/streamer.cpp
   src/utils.cpp
@@ -54,32 +53,23 @@ target_include_directories(${PROJECT_NAME}
   PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-    ${avcodec_INCLUDE_DIRS}
-    ${avformat_INCLUDE_DIRS}
-    ${avutil_INCLUDE_DIRS}
-    ${swscale_INCLUDE_DIRS}
 )
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
   PUBLIC
     async_web_server_cpp::async_web_server_cpp
-    image_transport::image_transport
     pluginlib::pluginlib
     rclcpp::rclcpp
-    ${sensor_msgs_TARGETS}
+    rmw::rmw
     Boost::boost
-    ${OpenCV_LIBS}
-    ${avcodec_LIBRARIES}
-    ${avformat_LIBRARIES}
-    ${avutil_LIBRARIES}
-    ${swscale_LIBRARIES}
   PRIVATE
-    cv_bridge::cv_bridge
     rclcpp_components::component
 )
 
 add_library(${PROJECT_NAME}_streamers SHARED
+  src/image_transport_streamer.cpp
+  src/libav_streamer.cpp
   src/streamers/h264_streamer.cpp
   src/streamers/jpeg_streamers.cpp
   src/streamers/png_streamers.cpp
@@ -92,6 +82,10 @@ target_include_directories(${PROJECT_NAME}_streamers
   PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    ${avcodec_INCLUDE_DIRS}
+    ${avformat_INCLUDE_DIRS}
+    ${avutil_INCLUDE_DIRS}
+    ${swscale_INCLUDE_DIRS}
 )
 
 target_link_libraries(${PROJECT_NAME}_streamers
@@ -134,7 +128,7 @@ install(
 )
 
 install(
-  TARGETS ${PROJECT_NAME}
+  TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_streamers
   EXPORT export_${PROJECT_NAME}
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
@@ -148,11 +142,6 @@ install(
   DESTINATION lib/${PROJECT_NAME}
 )
 
-install(
-  TARGETS ${PROJECT_NAME}_streamers
-  LIBRARY DESTINATION lib
-)
-
 ###########
 ## Tests ##
 ###########

include/web_video_server/streamer.hpp

@@ -37,7 +37,6 @@
 
 #include "async_web_server_cpp/http_connection.hpp"
 #include "async_web_server_cpp/http_request.hpp"
-#include "image_transport/subscriber.hpp"
 #include "rclcpp/node.hpp"
 
 namespace web_video_server