feat!: drop the libav-backed h264, vp8 and vp9 streamers

MoveIt Pro serves camera panes as MJPEG and never requests these types.
Keeping them forced a dependency on FFmpeg's development packages, which
on Ubuntu are built with --enable-gpl and pull libx264 and libx265 into
the product image.

The remaining streamers (mjpeg, png, ros_compressed) and all three
snapshot endpoints encode through cv::imencode, so nothing else changes.
A request for a removed type now misses the factory map and gets the
existing HTTP 404 fallback in WebVideoServer::handle_stream.

BREAKING CHANGE: /stream?type=h264, ?type=vp8 and ?type=vp9 return 404.

Author: JWhitleyWork

CMakeLists.txt

@@ -19,12 +19,6 @@ find_package(sensor_msgs REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system)
 
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(avcodec libavcodec REQUIRED)
-pkg_check_modules(avformat libavformat REQUIRED)
-pkg_check_modules(avutil libavutil REQUIRED)
-pkg_check_modules(swscale libswscale REQUIRED)
-
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
@@ -69,23 +63,15 @@ target_link_libraries(${PROJECT_NAME}
 
 add_library(${PROJECT_NAME}_streamers SHARED
   src/streamers/image_transport_streamer.cpp
-  src/streamers/libav_streamer.cpp
-  src/streamers/h264_streamer.cpp
   src/streamers/jpeg_streamers.cpp
   src/streamers/png_streamers.cpp
   src/streamers/ros_compressed_streamer.cpp
-  src/streamers/vp8_streamer.cpp
-  src/streamers/vp9_streamer.cpp
 )
 
 target_include_directories(${PROJECT_NAME}_streamers
   PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-    ${avcodec_INCLUDE_DIRS}
-    ${avformat_INCLUDE_DIRS}
-    ${avutil_INCLUDE_DIRS}
-    ${swscale_INCLUDE_DIRS}
 )
 
 target_link_libraries(${PROJECT_NAME}_streamers
@@ -99,10 +85,6 @@ target_link_libraries(${PROJECT_NAME}_streamers
   Boost::boost
   Boost::system
   ${OpenCV_LIBS}
-  ${avcodec_LIBRARIES}
-  ${avformat_LIBRARIES}
-  ${avutil_LIBRARIES}
-  ${swscale_LIBRARIES}
 )
 
 ## Declare a cpp executable

include/web_video_server/streamers/h264_streamer.hpp

@@ -22,7 +22,6 @@
   <depend>async_web_server_cpp</depend>
   <depend>boost</depend>
   <depend>cv_bridge</depend>
-  <depend>ffmpeg</depend>
   <depend>image_transport</depend>
   <depend>libopencv-dev</depend>
   <depend>rclcpp</depend>