video_player_node.cpp

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#include "ros/ros.h"
#include "video_player/PlayVideoSrv.h"
#include "stdlib.h"
#include <gscam/gscam.h>

int METHOD;

// Service Funktion
bool playVideo(video_player::PlayVideoSrv::Request  &req, video_player::PlayVideoSrv::Response &res){

        if(METHOD == 1){
                // play the video in vlc player         
                std::string gsconfig_param = "";
                gsconfig_param = req.videoPath + "/openVideo.sh";
                system(gsconfig_param.c_str());
                
        } else if(METHOD == 2) {
                ros::NodeHandle n, nh_private("~");
                gscam::GSCam gscam_driver(n, nh_private);
                
                ROS_INFO("Setting Param\n");
                
                // assamble string for filePath
                std::string gsconfig_param = "";
                gsconfig_param = "filesrc location=" + req.videoPath + "/Video.avi ! avidemux name=demux demux.video_00 ! decodebin  ! ffmpegcolorspace  ! video/x-raw-rgb ! identity name=ros ! fakesin";      
                
                // video streamen
                nh_private.setParam("gscam_config", gsconfig_param);
                if(!gscam_driver.configure()) {
                        ROS_FATAL("Failed to configure gscam!");
                } else if(!gscam_driver.init_stream()) {
                        ROS_FATAL("Failed to initialize gscam stream!");
                } else {
                        gscam_driver.publish_stream();
                }
                
                // clean all up
                ROS_INFO("Cleaning up stream and exiting...");
                gscam_driver.cleanup_stream();
                ROS_INFO("GStreamer stream stopped!");
                
        } else {
                ROS_INFO("METHOD variable false");
        }
        
        return true;
}

int main(int argc, char **argv){

        ros::init(argc, argv, "play_video_server");

        ros::NodeHandle n, nh_private("~");     
        
        std::string mode_;
        nh_private.param<std::string>("mode", mode_, "mode_II");
        if(mode_.compare("mode_I") == 0){
                METHOD = 1; // = open VLC Player
        } else {
                METHOD = 2; // = stream
        }
        
        ros::ServiceServer service = n.advertiseService("/wheeled_robin/application/play_video", playVideo);

        ROS_INFO("Ready to play video");
        
        ros::spin();
        
        return 0;
}