ROS2 foxy build fails

[nplan]

Building for ros2 foxy (branch ros2) fails with error:

/home/pi/dev_ws/src/web_video_server/src/ros_compressed_streamer.cpp:22:103: error: no matching function for call to ‘rclcpp::Node::create_subscription<sensor_msgs::msg::CompressedImage>(std::__cxx11::string&, std::_Bind_helper<false, void (web_video_server::RosCompressedStreamer::*)(std::shared_ptr<const sensor_msgs::msg::CompressedImage_<std::allocator<void> > >), web_video_server::RosCompressedStreamer*, const std::_Placeholder<1>&>::type, int)’
     compressed_topic, std::bind(&RosCompressedStreamer::imageCallback, this, std::placeholders::_1), 1);
                                                                                                       ^
In file included from /home/pi/ros2_foxy/install/rclcpp/include/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /home/pi/ros2_foxy/install/rclcpp/include/rclcpp/executors.hpp:22,
                 from /home/pi/ros2_foxy/install/rclcpp/include/rclcpp/rclcpp.hpp:146,
                 from /home/pi/dev_ws/src/web_video_server/include/web_video_server/image_streamer.h:4,
                 from /home/pi/dev_ws/src/web_video_server/include/web_video_server/ros_compressed_streamer.h:5,
                 from /home/pi/dev_ws/src/web_video_server/src/ros_compressed_streamer.cpp:1:
/home/pi/ros2_foxy/install/rclcpp/include/rclcpp/node.hpp:211:3: note: candidate: ‘template<class MessageT, class CallbackT, class AllocatorT, class CallbackMessageT, class SubscriptionT, class MessageMemoryStrategyT> std::shared_ptr<SubscriptionT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr)’
   create_subscription(
   ^~~~~~~~~~~~~~~~~~~
/home/pi/ros2_foxy/install/rclcpp/include/rclcpp/node.hpp:211:3: note:   template argument deduction/substitution failed:
/home/pi/dev_ws/src/web_video_server/src/ros_compressed_streamer.cpp:22:32: note:   cannot convert ‘std::bind(_Func&&, _BoundArgs&& ...) [with _Func = void (web_video_server::RosCompressedStreamer::*)(std::shared_ptr<const sensor_msgs::msg::CompressedImage_<std::allocator<void> > >); _BoundArgs = {web_video_server::RosCompressedStreamer*, const std::_Placeholder<1>&}; typename std::_Bind_helper<std::__is_socketlike<_Func>::value, _Func, _BoundArgs ...>::type = std::_Bind<void (web_video_server::RosCompressedStreamer::*(web_video_server::RosCompressedStreamer*, std::_Placeholder<1>))(std::shared_ptr<const sensor_msgs::msg::CompressedImage_<std::allocator<void> > >)>](((web_video_server::RosCompressedStreamer*)this), std::placeholders::_1)’ (type ‘std::_Bind_helper<false, void (web_video_server::RosCompressedStreamer::*)(std::shared_ptr<const sensor_msgs::msg::CompressedImage_<std::allocator<void> > >), web_video_server::RosCompressedStreamer*, const std::_Placeholder<1>&>::type’ {aka ‘std::_Bind<void (web_video_server::RosCompressedStreamer::*(web_video_server::RosCompressedStreamer*, std::_Placeholder<1>))(std::shared_ptr<const sensor_msgs::msg::CompressedImage_<std::allocator<void> > >)>’}) to type ‘const rclcpp::QoS&’
     compressed_topic, std::bind(&RosCompressedStreamer::imageCallback, this, std::placeholders::_1), 1);

Platform: Rasbperry Pi 4 with Raspbian Buster

[AviKenz]

i have the same issue. any solution or tip ?
i checkout the ros2 branch and build with async_web_server
my configuration:

• ubuntu 18.04
• ROS: dashing

Thanks in advance.

[nplan]

I opened a pull request #107 that fixes the build. There are still some issues though:

• web_video_server package does not become available to ros2 run after running source dev_ws/install/setup.bash. I must run source dev_ws/install/web_video_server/share/web_video_server/local_setup.bash instead
• mjpeg and png are the only stream types that work

[DomenicP]

I tried #107 a few days ago and while that solved some of the build issues under Foxy, new ones seem to have popped up in the meantime. I opened #111 with the full set of changes I needed to get the package to work under Foxy. I also fixed some deprecation warnings along the way. I confirmed that at least the mjpeg and ros_compressed stream types are working.

[jgvictores]

Currently able to compile (minimal warnings) from source (sorry if the issue looks stale, but Foxy itself is not so old ^^).

Compiled via (use sudo for apt commands as applicable, not my case because in a docker with root; also adapt your workspace (*_ws) path):

apt update
apt install ros-foxy-async-web-server-cpp ros-foxy-cv-bridge ros-foxy-image-transport
cd /demo_ws/src
git clone --branch ros2 https://github.com/RobotWebTools/web_video_server
cd /demo_ws
colcon build --packages-select web_video_server

The above was done with:

• branch ros2 at https://github.com/RobotWebTools/web_video_server/tree/c23b9078b614abdde9270ddd5d9f13c1fc4ad172
• ros-foxy-async-web-server-cpp (2.0.0-1focal.20221012.214333)
• ros-foxy-cv-bridge (3.0.7-1focal.20221021.145612)
• ros-foxy-image-transport (2.4.0-1focal.20221013.000257)

Run via (again, also adapt your workspace (*_ws) path):

source /demo_ws/install/setup.sh
ros2 run web_video_server web_video_server

PS: This is just some minimal documentation of working versions. Thanks a lot to all the effort of the developers @DomenicP and a long "et al" at #111

[bjsowa]

We dropped support for Foxy as it is EoL (you can still build verion 1.0.1 of this package though). The new version was released for all currently supported distros (Humble, Iron, Jazzy, Rolling).