remote image launch file updates

base_station/launch/remote_image_test.launch

@@ -7,7 +7,11 @@
 <group ns="$(arg machine_name)">
 
   <!-- run viewer on base station laptop -->
-  <node name="imageViewer" pkg="base_station" type="imageSaverNode.py"/>
+  <node name="imageNode" pkg="base_station" type="imageNode.py">
+    <param name="visualize" type="bool" value="false"/>
+    <param name="save" type="bool" value="true"/>
+    <param name="folderName" type="string" value="/home/ssher/imageDump"/>
+  </node>
 
   <!-- 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 → base_station/scripts/imageNode.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
@@ -29,8 +26,12 @@ class ImageViewer():
 def main():
     iv = ImageViewer()
     rospy.init_node("imageSaver")
-    folderName = "/home/" + getpass.getuser() + "/imageDump"
-    # cv2.namedWindow("image window")
+    windowFlag = rospy.get_param("~visualize")
+    saveFlag = rospy.get_param("~save")
+    folderName = rospy.get_param("~folderName")
+    # folderName = "/home/" + getpass.getuser() + "/imageDump"
+    if windowFlag:
+        cv2.namedWindow("image window")
     cv2.waitKey(200)
 
     while not rospy.is_shutdown():
@@ -39,8 +40,11 @@ def main():
             if np.mod(iv.seq, 32) == 0:
                 if os.path.isdir(folderName):
                     # print ("File exist")
+                    if windowFlag:
+                        cv2.imshow("image window", iv.image)
+                    if saveFlag:
                         cv2.imwrite(folderName + "/camera_image_{seq}.jpeg".format(seq = iv.seq), iv.image)
-                    cv2.waitKey(1000)
+                    cv2.waitKey(10)
                 else:
                     print ("File not exist")
 

base_station/scripts/imageViewerNode.py

-#! /home/llh/anaconda3/bin/python
-
-# may need to change that shebang for jetson
-
-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.waitKey(10)
-
-    cv2.destroyAllWindows()
-
-if __name__ == "__main__":
-    main()