Migrate pion v4

go.mod

@@ -5,17 +5,16 @@ go 1.23.1
 require (
 	github.com/gorilla/websocket v1.5.3
 	github.com/pion/interceptor v0.1.37
-	github.com/pion/mediadevices v0.6.4
+	github.com/pion/mediadevices v0.7.0
 	github.com/pion/rtcp v1.2.14
 	github.com/pion/rtp v1.8.9
-	github.com/pion/webrtc/v3 v3.3.4
+	github.com/pion/webrtc/v4 v4.0.5
 	github.com/tiiuae/rclgo v0.0.0-20240131135202-56b24e11219b
 	golang.org/x/exp v0.0.0-20241108190413-2d47ceb2692f
 )
 
 require (
 	github.com/alessio/shellescape v1.4.2 // indirect
-	github.com/davecgh/go-spew v1.1.1 // indirect
 	github.com/fsnotify/fsnotify v1.6.0 // indirect
 	github.com/google/uuid v1.6.0 // indirect
 	github.com/hashicorp/hcl v1.0.0 // indirect
@@ -26,27 +25,25 @@ require (
 	github.com/mitchellh/mapstructure v1.5.0 // indirect
 	github.com/pelletier/go-toml/v2 v2.0.8 // indirect
 	github.com/pion/datachannel v1.5.9 // indirect
-	github.com/pion/dtls/v2 v2.2.12 // indirect
-	github.com/pion/ice/v2 v2.3.36 // indirect
+	github.com/pion/dtls/v3 v3.0.4 // indirect
+	github.com/pion/ice/v4 v4.0.3 // indirect
 	github.com/pion/logging v0.2.2 // indirect
-	github.com/pion/mdns v0.0.12 // indirect
+	github.com/pion/mdns/v2 v2.0.7 // indirect
 	github.com/pion/randutil v0.1.0 // indirect
-	github.com/pion/sctp v1.8.33 // indirect
+	github.com/pion/sctp v1.8.34 // indirect
 	github.com/pion/sdp/v3 v3.0.9 // indirect
-	github.com/pion/srtp/v2 v2.0.20 // indirect
-	github.com/pion/stun v0.6.1 // indirect
-	github.com/pion/transport/v2 v2.2.10 // indirect
-	github.com/pion/turn/v2 v2.1.6 // indirect
-	github.com/pmezard/go-difflib v1.0.0 // indirect
+	github.com/pion/srtp/v3 v3.0.4 // indirect
+	github.com/pion/stun/v3 v3.0.0 // indirect
+	github.com/pion/transport/v3 v3.0.7 // indirect
+	github.com/pion/turn/v4 v4.0.0 // indirect
 	github.com/spf13/afero v1.9.5 // indirect
 	github.com/spf13/cast v1.5.1 // indirect
 	github.com/spf13/cobra v1.7.0 // indirect
 	github.com/spf13/jwalterweatherman v1.1.0 // indirect
 	github.com/spf13/pflag v1.0.5 // indirect
 	github.com/spf13/viper v1.16.0 // indirect
-	github.com/stretchr/testify v1.9.0 // indirect
 	github.com/subosito/gotenv v1.4.2 // indirect
-	github.com/wlynxg/anet v0.0.3 // indirect
+	github.com/wlynxg/anet v0.0.5 // indirect
 	golang.org/x/crypto v0.29.0 // indirect
 	golang.org/x/image v0.23.0 // indirect
 	golang.org/x/mod v0.22.0 // indirect

main.go

@@ -8,7 +8,7 @@ import (
 	send_peerconnectionchannel "github.com/3DRX/webrtc-ros-bridge/sender/peer_connection_channel"
 	send_roschannel "github.com/3DRX/webrtc-ros-bridge/sender/ros_channel"
 	send_signalingchannel "github.com/3DRX/webrtc-ros-bridge/sender/signaling_channel"
-	"github.com/pion/webrtc/v3"
+	"github.com/pion/webrtc/v4"
 	"github.com/tiiuae/rclgo/pkg/rclgo/types"
 )
 

receiver/peer_connection_channel/peer_connection_channel.go

@@ -8,7 +8,7 @@ import (
 	sensor_msgs_msg "github.com/3DRX/webrtc-ros-bridge/rclgo_gen/sensor_msgs/msg"
 	"github.com/pion/interceptor"
 	"github.com/pion/rtcp"
-	"github.com/pion/webrtc/v3"
+	"github.com/pion/webrtc/v4"
 	"github.com/tiiuae/rclgo/pkg/rclgo"
 	"github.com/tiiuae/rclgo/pkg/rclgo/types"
 )

receiver/peer_connection_channel/webm_saver.go

@@ -12,18 +12,16 @@ import (
 	"unsafe"
 
 	sensor_msgs_msg "github.com/3DRX/webrtc-ros-bridge/rclgo_gen/sensor_msgs/msg"
-	"github.com/pion/interceptor/pkg/jitterbuffer"
 	"github.com/pion/rtp"
 	"github.com/pion/rtp/codecs"
-	"github.com/pion/webrtc/v3/pkg/media/samplebuilder"
+	"github.com/pion/webrtc/v4/pkg/media/samplebuilder"
 	"github.com/tiiuae/rclgo/pkg/rclgo/types"
 )
 
 type WebmSaver struct {
 	vp8Builder     *samplebuilder.SampleBuilder
 	videoTimestamp time.Duration
 
-	h264JitterBuffer   *jitterbuffer.JitterBuffer
 	lastVideoTimestamp uint32
 	codecCtx           C.vpx_codec_ctx_t
 	codecCreated       bool
@@ -32,10 +30,9 @@ type WebmSaver struct {
 
 func newWebmSaver(imgChan chan<- types.Message) *WebmSaver {
 	return &WebmSaver{
-		vp8Builder:       samplebuilder.New(200, &codecs.VP8Packet{}, 90000),
-		h264JitterBuffer: jitterbuffer.New(),
-		imgChan:          imgChan,
-		codecCreated:     false,
+		vp8Builder:   samplebuilder.New(200, &codecs.VP8Packet{}, 90000),
+		imgChan:      imgChan,
+		codecCreated: false,
 	}
 }
 

receiver/signaling_channel/signaling_channel.go

@@ -9,7 +9,7 @@ import (
 
 	"github.com/3DRX/webrtc-ros-bridge/config"
 	"github.com/gorilla/websocket"
-	"github.com/pion/webrtc/v3"
+	"github.com/pion/webrtc/v4"
 	"golang.org/x/exp/rand"
 )
 

sender/peer_connection_channel/peer_connection_channel.go

@@ -12,7 +12,7 @@ import (
 	"github.com/pion/mediadevices"
 	"github.com/pion/mediadevices/pkg/codec/vpx"
 	"github.com/pion/mediadevices/pkg/prop"
-	"github.com/pion/webrtc/v3"
+	"github.com/pion/webrtc/v4"
 	"github.com/tiiuae/rclgo/pkg/rclgo"
 	"github.com/tiiuae/rclgo/pkg/rclgo/types"
 )
@@ -120,7 +120,7 @@ func InitPeerConnectionChannel(
 		})
 		_, err := peerConnection.AddTransceiverFromTrack(
 			videoTrack,
-			webrtc.RtpTransceiverInit{
+			webrtc.RTPTransceiverInit{
 				Direction: webrtc.RTPTransceiverDirectionSendonly,
 			},
 		)

sender/signaling_channel/signaling_channel.go

@@ -7,7 +7,7 @@ import (
 
 	"github.com/3DRX/webrtc-ros-bridge/config"
 	"github.com/gorilla/websocket"
-	"github.com/pion/webrtc/v3"
+	"github.com/pion/webrtc/v4"
 )
 
 type Action struct {