How to use/link meson build Gstreamer in ROS Package? - cmake

Question

To use latest Gstreamer, I meson built new version with following commands.
meson --prefix=/media/jai/Entertainment/Software/gstreamer/gst-build-installed --reconfigure build/
ninja -C build/
meson install -C build/
Now I have this directory
And it has pkg-configs also
What changes I have to make in Cmakelist.txt & package.xml to link this Gstreamer?
I have tried below changes. But no luck till now.
CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(mypkg)
find_package(catkin REQUIRED COMPONENTS
roscpp
sensor_msgs
std_msgs
)
SET(ENV{PKG_CONFIG_PATH} "/media/jai/Entertainment/Software/gstreamer/gst-build-installed/lib/x86_64-linux-gnu/pkgconfig" $ENV{PKG_CONFIG_PATH})
SET(ENV{LD_LIBRARY_PATH} "/media/jai/Entertainment/Software/gstreamer/gst-build-installed/lib/x86_64-linux-gnu" $ENV{LD_LIBRARY_PATH})
find_package(PkgConfig REQUIRED)
pkg_check_modules(GST1.0 REQUIRED gstreamer-1.0)
find_package(Boost REQUIRED COMPONENTS thread)
catkin_package(
CATKIN_DEPENDS roscpp sensor_msgs std_msgs
DEPENDS Boost GST1.0
INCLUDE_DIRS include
LIBRARIES mypkg
)
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GST1.0_INCLUDE_DIRS})
add_executable(mypkg src/main.cpp)
add_dependencies(mypkg ${catkin_EXPORTED_TARGETS})
target_link_libraries(mypkg ${catkin_LIBRARIES} ${GST1.0_LIBRARIES} ${Boost_LIBRARIES})
install(TARGETS mypkg
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
package.xml
<?xml version="1.0"?>
<package format="2">
<name>mypkg</name>
<version>0.1.0</version>
<description>Description</description>
<maintainer email="jai#todo.todo">jai</maintainer>
<license>Apache 2.0</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>pkg-config</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>boost</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>pkg-config</exec_depend>
<export>
</export>
</package>
main.cpp
#include "ros/ros.h"
#include <sensor_msgs/CompressedImage.h>
#include "thread"
#include <boost/thread.hpp>
extern "C"{
#include <gst/gst.h>
#include <gst/app/gstappsink.h>
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "gstreamer");
gst_init(&argc, &argv);
g_print ("**\nGstreamer version: %s\n**\n", gst_version_string ());
ros::spin();
}
After all above modification, package is still using stock gstreamer instead of new one.
OUTPUT: jai#jai:~$ rosrun gstreamer gstreamer
************************************
Gstreamer version: GStreamer 1.8.3
************************************
libva info: VA-API version 0.39.4
libva info: va_getDriverName() returns 0
libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so
libva info: Found init function __vaDriverInit_0_39
libva info: va_openDriver() returns 0
I think that it might be able to access include files but not the LIBS.

Answer 1

I think you need to use : (colon) to split paths when setting up PKG_CONFIG_PATH and mind the quotes:
SET(ENV{PKG_CONFIG_PATH} "/media/jai/Entertainment/Software/gstreamer/gst-build-installed/lib/x86_64-linux-gnu/pkgconfig:$ENV{PKG_CONFIG_PATH}")
You can also double-check gstreamer version with:
pkg_get_variable(GST_VERSION gstreamer-1.0 version)
message(STATUS "Gstreamer version:${GST_VERSION}")
Note, that your app should be able to find at run-time gstreamer libraries that you have built. To make this possible these should be installed to known locations from LD_LIBRARY_PATH. Updating this as noted by #Florian, is also possible for development purposes, as well as using runtime linker config /etc/ld.so.config.
PS
I noticed gstappsink.h and wonder if you are missing another gst packages in your cmakelists, e.g. gstreamer-app-1.0. Check cmake macro find_gstreamer_component
Edited by Jai.
gedit .bashrc
export LD_LIBRARY_PATH=/media/jai/Entertainment/Software/gstreamer/gst-build-installed/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH