movie_publisher: Cleaned up dependencies.

ctu-vras · Feb 13, 2025 · ad0f461 · ad0f461
1 parent 00fa01e
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Showing 6 changed files with 7 additions and 98 deletions.
diff --git a/.github/ci.noetic.rosinstall b/.github/ci.noetic.rosinstall
@@ -1,7 +1,2 @@
 # SPDX-License-Identifier: BSD-3-Clause
 # SPDX-FileCopyrightText: Czech Technical University in Prague
-
-- git:
-    local-name: ros-utils
-    uri: https://github.com/ctu-vras/ros-utils.git
-    version: master
diff --git a/movie_publisher/CMakeLists.txt b/movie_publisher/CMakeLists.txt
@@ -98,7 +98,6 @@ install(PROGRAMS
 
 catkin_install_python(PROGRAMS
   nodes/fix_bag_timestamps
-  nodes/merge.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(FILES

diff --git a/movie_publisher/README.md b/movie_publisher/README.md
@@ -8,7 +8,11 @@ This package contains several tools for using movie files in ROS (playback, conv
 It handles any file formats the system installation of ffmpeg can decode.
 
 **Important: This package used to be implemented in Python using pip-installed libraries. That is no longer needed
-as the package now uses C++ API of ffmpeg/libav.**
+as the package now uses C++ API of ffmpeg/libav.** Some things have changed and work a bit differently, but a big effort
+was spent to keep the new version as backwards compatible as possible.
+
+It can also extract interesting image/video metadata like GPS coordinates and camera calibrations and provide them as
+ROS-native types.
 
 ## Main tools
 
@@ -23,8 +27,6 @@ as the package now uses C++ API of ffmpeg/libav.**
 - `fix_bag_timestamps`: A batch script that rewrites bag files so that the message publication time is taken from the 
 message header. This allows you to generate bagfile data at high speed and then reprocess them to have more suitable
 publication timestamps.
-- `merge.py`: A copy of [srv_tools/merge.py](https://github.com/srv/srv_tools/blob/kinetic/bag_tools/scripts/merge.py) 
-which is not available in indigo.
 
 ## movie_publisher_node and nodelet movie_publisher/movie_publisher_nodelet
 

diff --git a/movie_publisher/nodes/add_movie_to_bag b/movie_publisher/nodes/add_movie_to_bag
@@ -54,7 +54,7 @@ rosrun movie_publisher movie_to_bag _movie:="${movie}" _bag:="${bag_tmp}" _topic
 
 echo "Merging into ${bag_out}"
 
-rosrun movie_publisher merge.py --output "${bag_out}" "${bag_in}" "${bag_tmp}" || exit 6
+rosrun cras_bag_tools merge_bag --compress "${bag_out}" "${bag_in}" "${bag_tmp}" || exit 6
 
 echo "Merged"
 

diff --git a/movie_publisher/nodes/merge.py b/movie_publisher/nodes/merge.py
diff --git a/movie_publisher/package.xml b/movie_publisher/package.xml
@@ -33,6 +33,7 @@
   <build_depend>tf2_ros</build_depend>
 
   <exec_depend>compass_conversions</exec_depend>
+  <exec_depend>cras_bag_tools</exec_depend>
   <exec_depend>cras_topic_tools</exec_depend>
   <exec_depend>ffmpeg</exec_depend>
   <exec_depend>image_geometry</exec_depend>
@@ -53,11 +54,6 @@
   <depend>sensor_msgs</depend>
 
   <exec_depend>ffmpeg</exec_depend>
-  <exec_depend condition="$ROS_DISTRO != noetic">python-imageio</exec_depend>
-  <exec_depend condition="$ROS_DISTRO == noetic">python3-imageio</exec_depend>
-  <!--exec_depend>python-moviepy-pip</exec_depend--> <!-- recommended but optional dependency -->
-  <exec_depend condition="$ROS_DISTRO != noetic">python-opencv</exec_depend>
-  <exec_depend condition="$ROS_DISTRO == noetic">python3-opencv</exec_depend>
   <exec_depend version_gte="1.0.2">rosbash_params</exec_depend>
   <exec_depend>rospy</exec_depend>