Cannot build in Ubuntu 24.04 / ROS 2 Rolling #143
Description
Description
I tried building this package on my personal laptop that runs Ubuntu 24.04 / Rolling and it fails for 2 reasons.
-
There is an include to
<cv_bridge/cv_bridge.h>which broke when I tried because it's been renamed to.hpp. Iron seems to have them both available as a transitional release, but no more beyond that. Easy enough to fix this one. ros-perception/vision_opencv@7a47d35 -
Seems like the version of ffmpeg on 24.04 is incompatible, since in
libavstreamer.cppwe are including some deprecated code. Seems associaated with https://stackoverflow.com/questions/74268971/migration-from-ffmpeg-4-3-2-to-5-1-0-alternative-to-avlockop-enum -- meaning a bunch of this code must be updated.
This second one is trickier, but there is a shorter-term possibility of disabling this capability for Jazzy onwards so at least the package builds, and then hopefully someone can contribute its rehabilitation?
I did a quick try, and this package finally builds if:
- We fix Item 1 (super easy)
- Not build
libavstreamer.cpp, as well ash264_streamer.cpp,vp8_streamer.cpp, andvp9_streamer.cppwhich inherit from the first file. - Comment out / remove the lines in
web_video_server.cppthat include / use code from the above headers.
Full error:
Starting >>> web_video_server
--- stderr: web_video_server
gmake[2]: *** No rule to make target '/opt/ros/rolling/lib/libfastcdr.so.2.2.1', needed by 'web_video_server'. Stop.
gmake[2]: *** Waiting for unfinished jobs....
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:11:63: error: use of enum ‘AVLockOp’ without previous declaration
11 | static int ffmpeg_boost_mutex_lock_manager(void **mutex, enum AVLockOp op)
| ^~~~~~~~
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp: In function ‘int web_video_server::ffmpeg_boost_mutex_lock_manager(void**, int)’:
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:18:10: error: ‘AV_LOCK_CREATE’ was not declared in this scope; did you mean ‘AV_LOG_TRACE’?
18 | case AV_LOCK_CREATE:
| ^~~~~~~~~~~~~~
| AV_LOG_TRACE
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:25:10: error: ‘AV_LOCK_OBTAIN’ was not declared in this scope
25 | case AV_LOCK_OBTAIN:
| ^~~~~~~~~~~~~~
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:31:10: error: ‘AV_LOCK_RELEASE’ was not declared in this scope
31 | case AV_LOCK_RELEASE:
| ^~~~~~~~~~~~~~~
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:37:10: error: ‘AV_LOCK_DESTROY’ was not declared in this scope
37 | case AV_LOCK_DESTROY:
| ^~~~~~~~~~~~~~~
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp: In constructor ‘web_video_server::LibavStreamer::LibavStreamer(const async_web_server_cpp::HttpRequest&, async_web_server_cpp::HttpConnectionPtr, rclcpp::Node::SharedPtr, const std::string&, const std::string&, const std::string&)’:
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:65:3: error: ‘av_lockmgr_register’ was not declared in this scope
65 | av_lockmgr_register(&ffmpeg_boost_mutex_lock_manager);
| ^~~~~~~~~~~~~~~~~~~
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:66:3: error: ‘av_register_all’ was not declared in this scope
66 | av_register_all();
| ^~~~~~~~~~~~~~~
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp: In member function ‘virtual void web_video_server::LibavStreamer::initialize(const cv::Mat&)’:
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:114:35: error: invalid conversion from ‘const AVOutputFormat*’ to ‘AVOutputFormat*’ [-fpermissive]
114 | output_format_ = av_guess_format(format_name_.c_str(), NULL, NULL);
| ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| |
| const AVOutputFormat*
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:142:34: error: invalid conversion from ‘const AVCodec*’ to ‘AVCodec*’ [-fpermissive]
142 | codec_ = avcodec_find_encoder(output_format_->video_codec);
| ~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| |
| const AVCodec*
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:144:42: error: invalid conversion from ‘const AVCodec*’ to ‘AVCodec*’ [-fpermissive]
144 | codec_ = avcodec_find_encoder_by_name(codec_name_.c_str());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
| |
| const AVCodec*
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:160:35: error: ‘AVStream’ {aka ‘struct AVStream’} has no member named ‘codec’
160 | codec_context_ = video_stream_->codec;
| ^~~~~
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:163:3: error: ‘avcodec_get_context_defaults3’ was not declared in this scope
163 | avcodec_get_context_defaults3(codec_context_, codec_);
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:189:30: error: ‘CODEC_FLAG_GLOBAL_HEADER’ was not declared in this scope; did you mean ‘AV_CODEC_FLAG_GLOBAL_HEADER’?
189 | codec_context_->flags |= CODEC_FLAG_GLOBAL_HEADER;
| ^~~~~~~~~~~~~~~~~~~~~~~~
| AV_CODEC_FLAG_GLOBAL_HEADER
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp: In member function ‘virtual void web_video_server::LibavStreamer::sendImage(const cv::Mat&, const rclcpp::Time&)’:
/home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:294:17: warning: ‘void av_init_packet(AVPacket*)’ is deprecated [-Wdeprecated-declarations]
294 | av_init_packet(&pkt);
| ~~~~~~~~~~~~~~^~~~~~
In file included from /usr/include/x86_64-linux-gnu/libavcodec/avcodec.h:44,
from /home/sebastian/workspace/web_video_server/include/web_video_server/libav_streamer.h:11,
from /home/sebastian/workspace/web_video_server/src/libav_streamer.cpp:1:
/usr/include/x86_64-linux-gnu/libavcodec/packet.h:629:6: note: declared here
629 | void av_init_packet(AVPacket *pkt);
| ^~~~~~~~~~~~~~
gmake[2]: *** [CMakeFiles/web_video_server.dir/build.make:104: CMakeFiles/web_video_server.dir/src/libav_streamer.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/web_video_server.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed <<< web_video_server [8.05s, exited with code 2]
- Library Version:
- ROS Version: Rolling
- Platform / OS: Ubuntu 22.04
Steps To Reproduce
Clone the ros2 branch on a Ubuntu 22.04 / ROS 2 Rolling system, then colcon build the package.
Expected Behavior
It builds without error.
Actual Behavior
It builds with error.