Add end-to-end streaming flow, metrics, launches, and docs

Author: mkassimi98

CMakeLists.txt

@@ -5,11 +5,13 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 option(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_TIDY "Enable clang-tidy during C++ compilation" ON)
 option(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_FORMAT_CHECK "Enable clang-format check target" ON)
+option(ROS2_GST_VIDEO_BRIDGE_ENABLE_AMENT_LINT "Enable ament_lint_auto checks" OFF)
 
 if(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_TIDY)
   find_program(CLANG_TIDY_EXE NAMES clang-tidy)
@@ -23,6 +25,10 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0 gstreamer-app-1.0)
 
 if(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_FORMAT_CHECK)
   find_program(CLANG_FORMAT_EXE NAMES clang-format)
@@ -57,10 +63,19 @@ add_executable(gst_video_bridge_node
 target_include_directories(gst_video_bridge_node
   PRIVATE
   include
+  ${GSTREAMER_INCLUDE_DIRS}
 )
 
+target_link_libraries(gst_video_bridge_node
+  ${GSTREAMER_LIBRARIES}
+)
+
+target_compile_options(gst_video_bridge_node PRIVATE ${GSTREAMER_CFLAGS_OTHER})
+
 ament_target_dependencies(gst_video_bridge_node
   rclcpp
+  sensor_msgs
+  std_msgs
 )
 
 install(TARGETS gst_video_bridge_node
@@ -72,8 +87,45 @@ install(DIRECTORY launch config
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_gtest REQUIRED)
+
+  ament_add_gtest(test_config_loader test/test_config_loader.cpp src/core/config_loader.cc)
+  target_include_directories(test_config_loader PRIVATE include)
+  ament_target_dependencies(test_config_loader rclcpp)
+
+  ament_add_gtest(test_pipeline_builder test/test_pipeline_builder.cpp src/core/pipeline_builder.cc)
+  target_include_directories(test_pipeline_builder PRIVATE include)
+
+  add_test(
+    NAME smoke_runtime_validate_config
+    COMMAND $<TARGET_FILE:gst_video_bridge_node> --ros-args -p runtime.mode:=validate_config)
+
+  add_test(
+    NAME smoke_runtime_list_capabilities
+    COMMAND $<TARGET_FILE:gst_video_bridge_node> --ros-args -p runtime.mode:=list_capabilities)
+
+  add_test(
+    NAME smoke_launch_minimal_show_args
+    COMMAND ros2 launch ros2_gst_video_bridge gst_video_bridge_minimal.launch.py --show-args)
+
+  add_test(
+    NAME smoke_launch_advanced_show_args
+    COMMAND ros2 launch ros2_gst_video_bridge gst_video_bridge_advanced.launch.py --show-args)
+
+  add_test(
+    NAME smoke_launch_compat_show_args
+    COMMAND ros2 launch ros2_gst_video_bridge gst_video_bridge.launch.py --show-args)
+
+  set_tests_properties(smoke_runtime_validate_config PROPERTIES TIMEOUT 20)
+  set_tests_properties(smoke_runtime_list_capabilities PROPERTIES TIMEOUT 20)
+  set_tests_properties(smoke_launch_minimal_show_args PROPERTIES TIMEOUT 20)
+  set_tests_properties(smoke_launch_advanced_show_args PROPERTIES TIMEOUT 20)
+  set_tests_properties(smoke_launch_compat_show_args PROPERTIES TIMEOUT 20)
+
+  if(ROS2_GST_VIDEO_BRIDGE_ENABLE_AMENT_LINT)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+  endif()
 endif()
 
 ament_package()

README.md

@@ -70,6 +70,124 @@ source install/setup.bash
 ros2 launch ros2_gst_video_bridge gst_video_bridge.launch.py
 ```
 
+## End-to-End Basler USB Test (SRT Listener -> Caller)
+
+This section documents the validated launch flow for a Basler USB camera with:
+
+- camera node publishing ROS images,
+- bridge node running SRT in listener mode,
+- receiver running as SRT caller.
+
+### 0) One-time USB udev rule for Basler
+
+```bash
+sudo tee /etc/udev/rules.d/99-basler-usb.rules >/dev/null <<'EOF'
+SUBSYSTEM=="usb", ATTR{idVendor}=="2676", MODE="0666", GROUP="plugdev"
+EOF
+
+sudo udevadm control --reload-rules
+sudo udevadm trigger
+```
+
+Reconnect the USB camera (or reboot) after applying the rule.
+
+### 1) Verify camera detection
+
+```bash
+cd /home/ccu-001/ws_dev
+source /opt/ros/humble/setup.zsh
+source install/setup.zsh
+
+ros2 run camera_aravis2 camera_finder
+```
+
+### 2) Launch camera node (Terminal A)
+
+```bash
+source /opt/ros/humble/setup.zsh
+source /home/ccu-001/ws_dev/install/setup.zsh
+ros2 launch camera_aravis2 camera_driver_uv_example.launch.py guid:=Basler-2676016350B6-23285942
+```
+
+### 3) Launch bridge node in SRT listener mode (Terminal B)
+
+```bash
+source /opt/ros/humble/setup.zsh
+source /home/ccu-001/ws_dev/install/setup.zsh
+ros2 launch ros2_gst_video_bridge gst_video_bridge_minimal.launch.py \
+	input_topic:=/camera_driver_uv_example/vis/image_raw \
+	"sink_uri:=srt://0.0.0.0:9000?mode=listener"
+```
+
+### 4) Launch SRT receiver as caller (Terminal C)
+
+```bash
+gst-launch-1.0 -v srtsrc uri="srt://1.0.0.22:9000?mode=caller" latency=60 ! tsdemux ! h264parse ! avdec_h264 ! videoconvert ! autovideosink sync=false
+```
+
+### 5) Quick runtime checks
+
+Check that the camera topic is publishing:
+
+```bash
+source /opt/ros/humble/setup.zsh
+source /home/ccu-001/ws_dev/install/setup.zsh
+ros2 topic hz /camera_driver_uv_example/vis/image_raw
+```
+
+Check bridge runtime metrics:
+
+```bash
+source /opt/ros/humble/setup.zsh
+source /home/ccu-001/ws_dev/install/setup.zsh
+ros2 topic echo /gst_video_bridge/runtime_metrics --once
+```
+
+If `fps_in` and `fps_out` are both greater than zero, the bridge is actively forwarding frames.
+
+### Launch files
+
+- `gst_video_bridge_minimal.launch.py`:
+	- essential arguments only (`profile_machine`, `profile_stream`, `input_topic`, `sink_uri`)
+- `gst_video_bridge_advanced.launch.py`:
+	- full override surface for transport/codec/runtime plus `params_file`
+- `gst_video_bridge.launch.py`:
+	- compatibility wrapper to the advanced launch
+
+Examples:
+
+```bash
+ros2 launch ros2_gst_video_bridge gst_video_bridge_minimal.launch.py \
+	profile_machine:=jetson profile_stream:=low_latency \
+	input_topic:=/camera_driver_uv/vis/image_raw \
+	sink_uri:=srt://127.0.0.1:9000?mode=listener
+
+ros2 launch ros2_gst_video_bridge gst_video_bridge_advanced.launch.py \
+	params_file:=/home/ccu-001/ws_dev/src/ros2_gst_video_bridge/config/profiles/jetson_monitoring_udp.yaml
+```
+
+### Curated profile files
+
+Under `config/profiles/`:
+
+- `jetson_low_latency_srt.yaml`
+- `x86_low_latency_srt.yaml`
+- `raspi_low_latency_srt.yaml`
+- `jetson_monitoring_udp.yaml`
+- `x86_monitoring_udp.yaml`
+- `raspi_monitoring_udp.yaml`
+- `recording_file_sink.yaml`
+
+### Runtime metrics
+
+The node publishes runtime metrics on `~/runtime_metrics` (`std_msgs/msg/String`), including:
+
+- state (`connecting|streaming|degraded|reconnecting|failed`)
+- `fps_in`, `fps_out`
+- dropped frame counters
+- reconnect counter
+- latency estimate in milliseconds
+
 ### Discoverability modes (Phase 3)
 
 - List ROS image topics visible on the host:
@@ -98,5 +216,5 @@ ros2 run ros2_gst_video_bridge gst_video_bridge_node --ros-args -p runtime.mode:
 
 ## Current Status
 
-This is a professional starter scaffold with formatting/linting and a minimal ROS 2 node.
-The next implementation milestone is wiring ROS image subscriptions into a real GStreamer `appsrc` pipeline.
+The node now supports ROS image ingestion into a real GStreamer `appsrc` pipeline with runtime modes,
+reconnection policy, and profile-driven launch/configuration.

config/default_params.yaml

@@ -6,7 +6,7 @@ gst_video_bridge:
     input_topic: /camera_driver_uv/vis/image_raw
 
     transport.kind: srt
-    transport.sink_uri: srt://127.0.0.1:9000?mode=caller
+    transport.sink_uri: srt://127.0.0.1:9000?mode=listener
     transport.latency_ms: 60
     transport.reconnect.enabled: true
     transport.reconnect.interval_ms: 1000
@@ -23,7 +23,7 @@ gst_video_bridge:
     gst.transport: srt
     gst.codec: h264
     gst.profile: baseline
-    gst.sink_uri: srt://127.0.0.1:9000?mode=caller
+    gst.sink_uri: srt://127.0.0.1:9000?mode=listener
     gst.bitrate_kbps: 2000
     gst.latency_ms: 60
     gst.pipeline_override: ""

config/profiles/jetson_low_latency_srt.yaml

@@ -0,0 +1,25 @@
+gst_video_bridge:
+  ros__parameters:
+    profile.machine: jetson
+    profile.stream: low_latency
+
+    input_topic: /camera_driver_uv/vis/image_raw
+
+    transport.kind: srt
+    transport.sink_uri: srt://127.0.0.1:9000?mode=listener
+    transport.latency_ms: 60
+    transport.reconnect.enabled: true
+    transport.reconnect.interval_ms: 1000
+    transport.reconnect.max_attempts: 0
+
+    codec.name: h264
+    codec.profile: baseline
+    codec.tune: zerolatency
+    codec.rate_control: cbr
+    codec.bitrate_kbps: 2500
+    codec.gop: 30
+
+    max_fps: 30.0
+    use_wall_clock_timestamps: false
+    runtime.mode: stream
+    runtime.print_effective_config: true

config/profiles/jetson_monitoring_udp.yaml

@@ -0,0 +1,25 @@
+gst_video_bridge:
+  ros__parameters:
+    profile.machine: jetson
+    profile.stream: monitoring_udp
+
+    input_topic: /camera_driver_uv/vis/image_raw
+
+    transport.kind: udp
+    transport.sink_uri: udp://127.0.0.1:5000
+    transport.latency_ms: 40
+    transport.reconnect.enabled: false
+    transport.reconnect.interval_ms: 1000
+    transport.reconnect.max_attempts: 0
+
+    codec.name: h264
+    codec.profile: baseline
+    codec.tune: zerolatency
+    codec.rate_control: cbr
+    codec.bitrate_kbps: 2000
+    codec.gop: 30
+
+    max_fps: 20.0
+    use_wall_clock_timestamps: false
+    runtime.mode: stream
+    runtime.print_effective_config: true

config/profiles/raspi_low_latency_srt.yaml

@@ -0,0 +1,25 @@
+gst_video_bridge:
+  ros__parameters:
+    profile.machine: raspi
+    profile.stream: low_latency
+
+    input_topic: /camera/image_raw
+
+    transport.kind: srt
+    transport.sink_uri: srt://127.0.0.1:9000?mode=listener
+    transport.latency_ms: 80
+    transport.reconnect.enabled: true
+    transport.reconnect.interval_ms: 1000
+    transport.reconnect.max_attempts: 0
+
+    codec.name: h264
+    codec.profile: main
+    codec.tune: zerolatency
+    codec.rate_control: cbr
+    codec.bitrate_kbps: 1800
+    codec.gop: 30
+
+    max_fps: 25.0
+    use_wall_clock_timestamps: false
+    runtime.mode: stream
+    runtime.print_effective_config: true

config/profiles/raspi_monitoring_udp.yaml

@@ -0,0 +1,25 @@
+gst_video_bridge:
+  ros__parameters:
+    profile.machine: raspi
+    profile.stream: monitoring_udp
+
+    input_topic: /camera/image_raw
+
+    transport.kind: udp
+    transport.sink_uri: udp://127.0.0.1:5000
+    transport.latency_ms: 60
+    transport.reconnect.enabled: false
+    transport.reconnect.interval_ms: 1000
+    transport.reconnect.max_attempts: 0
+
+    codec.name: h264
+    codec.profile: main
+    codec.tune: zerolatency
+    codec.rate_control: cbr
+    codec.bitrate_kbps: 1500
+    codec.gop: 30
+
+    max_fps: 15.0
+    use_wall_clock_timestamps: false
+    runtime.mode: stream
+    runtime.print_effective_config: true

config/profiles/recording_file_sink.yaml

@@ -0,0 +1,25 @@
+gst_video_bridge:
+  ros__parameters:
+    profile.machine: generic
+    profile.stream: high_quality
+
+    input_topic: /camera/image_raw
+
+    transport.kind: file
+    transport.sink_uri: /tmp/ros2_gst_video_bridge_recording.ts
+    transport.latency_ms: 0
+    transport.reconnect.enabled: false
+    transport.reconnect.interval_ms: 1000
+    transport.reconnect.max_attempts: 0
+
+    codec.name: h264
+    codec.profile: high
+    codec.tune: zerolatency
+    codec.rate_control: cbr
+    codec.bitrate_kbps: 5000
+    codec.gop: 60
+
+    max_fps: 30.0
+    use_wall_clock_timestamps: false
+    runtime.mode: stream
+    runtime.print_effective_config: true