images and shebang updates

base_station/launch/image_test.launch

@@ -8,27 +8,22 @@
     <!-- load machine names, plath, neruda, and home versions -->
     <include file="$(find base_station)/launch/machines.launch"/>
 
-    <node name="waypointGenerator" pkg="database_tools" type="waypointGenerator.py">
-      <!-- type of path, from "points" below, "spiral", or "squares" -->
+    <!-- <node name="waypointGenerator" pkg="database_tools" type="waypointGenerator.py">
       <param name="pathType" type="string" value="spiral"/>
       <param name="spiralRadius" type="double" value="1"/>
       <param name="spiralLoops" type="double" value="2"/>
       <param name="spiralHeight" type="double" value="1"/>
       <param name="altitudeIncrement" type="double" value="0"/>
-      <!-- base altitude of all waypoints/position -->
       <param name="altitude" type="double" value="2"/>
-      <!-- number of drones to generate waypoints for -->
       <param name="droneNum" type="double" value="3"/>
 
       <rosparam command="load" param="anchorPoint">
-        <!-- backyard center -->
         [37.227531, -80.406156]
       </rosparam>
-      <!-- nearby tree variation -->
       <rosparam command="load" param="pathPoints">
         []
       </rosparam>
-    </node>
+    </node> -->
 
     <!-- launch neruda vehicle nodes -->
     <include file="$(find base_station)/launch/remote_image_test.launch">

base_station/launch/remote_image_test.launch

@@ -7,7 +7,7 @@
 <group ns="$(arg machine_name)">
 
   <!-- run viewer on base station laptop -->
-  <node name="imageViewer" pkg="base_station" type="imageViewerNode.py"/>
+  <node name="imageViewer" pkg="base_station" type="imageSaverNode.py"/>
 
   <!-- run webcam stream on remote node -->
   <!-- got to do this here because including a file to a remote machine is apparently frowned upon -->

base_station/scripts/imageSaverNode.py

+#! /usr/bin/python3
+# 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 cv_bridge import CvBridge, CvBridgeError
+
+class ImageViewer():
+    def __init__(self):
+        self.bridge = CvBridge()
+        self.subscriber = rospy.Subscriber("usb_camera/image_raw", Image, self.imageCallback)
+        self.params = None
+        self.image = None
+
+    def imageCallback(self, frame):
+        # self.params = self.getParams()
+        try:
+            self.image = self.bridge.imgmsg_to_cv2(frame, "bgr8")
+        except CvBridgeError as err:
+            rospy.loginfo("there was error!")
+            rospy.loginfo(err)
+
+def main():
+    iv = ImageViewer()
+    rospy.init_node("imageViewer")
+    # 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)
+
+    # cv2.destroyAllWindows()
+
+if __name__ == "__main__":
+    main()

database_tools/scripts/imageSaverNode.py

-#!/usr/bin/python3
-import rospy
-import cv2
-# ROS Image message
-from sensor_msgs.msg import Image
-# ROS Image message -> OpenCV2 image converter
-from cv_bridge import CvBridge, CvBridgeError
-# OpenCV2 for saving an image
-
-# Instantiate CvBridge
-bridge = CvBridge()
-
-def image_callback(msg):
-    try:
-        # Convert your ROS Image message to OpenCV2
-        cv2_img = bridge.imgmsg_to_cv2(msg, "bgr8")
-        rospy.loginfo("received new image.")
-        # Save your OpenCV2 image as a jpeg
-        cv2.imwrite('/home/llh/sarwebui/media/droneimages/camera_image.jpeg', cv2_img)
-    except CvBridgeError as e:
-        print(e)
-
-def main():
-    rospy.init_node('image_handler')
-
-    # Define your image topic
-    if (rospy.get_param('camera_type') == 0):
-        image_topic = "dji_osdk_ros/fpv_camera_images"
-    else:
-        image_topic = "dji_osdk_ros/main_camera_images"
-    # Set up your subscriber and define its callback
-    rospy.Subscriber(image_topic, Image, image_callback)
-    # Spin until ctrl + c
-    rospy.loginfo("image handler ready for images...")
-    rospy.spin()
-
-if __name__ == '__main__':
-    main()