image saving node wip

base_station/launch/image_test.launch

@@ -2,7 +2,7 @@
 
     <!-- define all names parameter -->
     <rosparam command="load" param="nameList">
-      ["nerudaKube"]
+      ["baseStation"]
     </rosparam>
 
     <!-- load machine names, plath, neruda, and home versions -->
@@ -27,7 +27,7 @@
 
     <!-- launch neruda vehicle nodes -->
     <include file="$(find base_station)/launch/remote_image_test.launch">
-      <arg name="machine_name" value="nerudaKube"/>
+      <arg name="machine_name" value="baseStation"/>
       <arg name="machine_id" value="0"/>
     </include>
 

base_station/launch/machines.launch

@@ -24,6 +24,9 @@
   <machine name="yeatsHouse" address="192.168.1.198" env-loader="/opt/ros/noetic/yeats_house_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
   <machine name="yeatsModem" address="192.168.111.203" env-loader="/opt/ros/noetic/yeats_modem_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
 
+  <machine name="baseStation" address="localhost" env-loader="/opt/ros/noetic/env.sh" user="llh" default="never" timeout="20" password="Meepp973"/>
+
+
   <!-- kubernetes connections, interface tbd -->
   <machine name="nerudaKube" address="service-drone" env-loader="/opt/ros/noetic/kube_setup.sh" user="ssher" default="never" timeout="20" password="password"/>
 

base_station/scripts/imageSaverNode.py

 #! /usr/bin/python3
+
+#! /home/llh/anaconda3/bin/python
 # just saves the image instead of opening viewer window, for kubernetes node
 
 import rospy, sys, math, cv2, numpy as np, std_msgs.msg
 from sensor_msgs.msg import Image
+from std_msgs.msg import Header
+import os.path, getpass
 from cv_bridge import CvBridge, CvBridgeError
 
 class ImageViewer():
@@ -11,26 +15,34 @@ class ImageViewer():
         self.subscriber = rospy.Subscriber("usb_camera/image_raw", Image, self.imageCallback)
         self.params = None
         self.image = None
+        self.seq = None
 
     def imageCallback(self, frame):
         # self.params = self.getParams()
         try:
             self.image = self.bridge.imgmsg_to_cv2(frame, "bgr8")
+            self.seq = frame.header.seq
         except CvBridgeError as err:
             rospy.loginfo("there was error!")
             rospy.loginfo(err)
 
 def main():
     iv = ImageViewer()
-    rospy.init_node("imageViewer")
+    rospy.init_node("imageSaver")
+    folderName = "/home/" + getpass.getuser() + "/imageDump"
     # cv2.namedWindow("image window")
     cv2.waitKey(200)
 
     while not rospy.is_shutdown():
         if iv.image is not None:
             # cv2.imshow("image window", iv.image)
-            cv2.imwrite("/home/$USER/camera_image.jpeg", iv.image)
-            cv2.waitKey(10)
+            if np.mod(iv.seq, 32) == 0:
+                if os.path.isdir(folderName):
+                    # print ("File exist")
+                    cv2.imwrite(folderName + "/camera_image_{seq}.jpeg".format(seq = iv.seq), iv.image)
+                    cv2.waitKey(1000)
+                else:
+                    print ("File not exist")
 
     # cv2.destroyAllWindows()