png_pub.py works now

mrobosub_perception/launch/perception.launch

@@ -1,7 +1,6 @@
 <launch>
-    <include file="$(find mrobosub_perception)/launch/ml_executor_launch.xml" />
-    <include file="$(find mrobosub_perception)/launch/ml_srv_launch.xml" />
-    <include file="$(find mrobosub_perception)/launch/pathmarker_hsv_launch.xml" />
-    <!-- <include file="$(find mrobosub_perception)/launch/buoy_hsv.launch" /> -->
-    <include file="$(find mrobosub_perception)/launch/bin_hsv_launch.xml" />
+    <include file="$(find-pkg-share mrobosub_perception)/launch/ml_executor_launch.xml" />
+    <include file="$(find-pkg-share mrobosub_perception)/launch/ml_srv_launch.xml" />
+    <include file="$(find-pkg-share mrobosub_perception)/launch/pathmarker_hsv_launch.xml" />
+    <include file="$(find-pkg-share mrobosub_perception)/launch/bin_hsv_launch.xml" />
 </launch>

mrobosub_perception/launch/perception_sim_launch.xml

@@ -0,0 +1,5 @@
+<launch>
+    <include file="$(find-pkg-share mrobosub_perception)/launch/ml_srv_launch.xml" />
+    <include file="$(find-pkg-share mrobosub_perception)/launch/pathmarker_hsv_launch.xml" />
+    <include file="$(find-pkg-share mrobosub_perception)/launch/bin_hsv_launch.xml" />
+</launch>

mrobosub_perception/launch/png_pub_launch.xml

@@ -0,0 +1,3 @@
+<launch>
+    <node name="png_pub" pkg="mrobosub_perception" exec="png_pub"/>
+</launch>

mrobosub_perception/launch/tuner.launch → mrobosub_perception/launch/tuner_launch.xml

@@ -1,13 +1,13 @@
 <launch>
-  <node
+  <!-- <node
     pkg="mrobosub_perception"
-    type="webcam_pub.py"
+    exec="webcam_pub"
     name="webcam_pub"
     output="screen"
-  />
+  /> -->
   <node
     pkg="mrobosub_perception"
-    type="hsv_tuner.py"
+    exec="hsv_tuner"
     name="hsv_tuner"
     output="screen"
   >

mrobosub_perception/mrobosub_perception/bin_hsv.py

@@ -6,14 +6,12 @@
 
 from cv_bridge import CvBridge
 import rclpy
-from rclpy import utilities
-from rclpy.node import Node
+from mrobosub_lib import Node
 from mrobosub_msgs.srv import ObjectPosition
 from mrobosub_perception.timed_service import TimedService
 from sensor_msgs.msg import Image
 
 from mrobosub_perception.hsv_pipeline import HsvPipeline
-from hsv_pipeline import HsvPipeline
 
 def pixels_to_angles(frame, x_pos: int, y_pos: int, fov_x=110, fov_y=70) -> Tuple[int, int]:
     height, width = frame.shape[0:2]

mrobosub_perception/mrobosub_perception/png_pub.py

@@ -1,40 +1,38 @@
-#!/usr/bin/env python
 
-import rospy # Python library for ROS
+import rclpy
 from sensor_msgs.msg import Image # Image is the message type
 import cv2 # OpenCV library
 from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images
+from mrobosub_lib import Node
+import os
 
-def publish_message():
+class PngPub(Node):
+    def __init__(self):
+        super().__init__("png_pub")
+        # Node is publishing to the video_frames topic using the message type Image
+        self.pub = self.create_publisher(Image, '/zed2/zed_node/rgb/image_rect_color', qos_profile=10)
 
-  # Node is publishing to the video_frames topic using
-  # the message type Image
-  pub = rospy.Publisher('/zed2/zed_node/rgb/image_rect_color', Image, queue_size=10)
+        current_dir = os.path.dirname(os.path.realpath(__file__))
+        img_path = os.path.join(current_dir, "bbox.png")
+        self.img = cv2.imread(img_path)
+        if self.img is None:
+            print("Error: image not found!")
+        # when I run this, this input is currently "not a numpy array"
+        # but we can think about the processing here once we actually have an image we wanna publish
 
-  rospy.init_node('png_pub_py', anonymous=True)
+        #cap.set(cv2.CAP_PROP_EXPOSURE, -8)
 
-  # Go through the loop 10 times per second
-  rate = rospy.Rate(10) # 10hz
+        # Used to convert between ROS and OpenCV images
+        self.br = CvBridge()
+        self.timer = self.create_timer(0.1, self.publish_message) # Go through the loop 10 times per second
 
-  # Create a VideoCapture object
-  # The argument '0' gets the default webcam.
-  img = cv2.imread("./bbox.png")
-  #cap.set(cv2.CAP_PROP_EXPOSURE, -8)
+    def publish_message(self):
+        self.pub.publish(self.br.cv2_to_imgmsg(self.img, encoding='bgr8'))
 
-  # Used to convert between ROS and OpenCV images
-  br = CvBridge()
-
-  #print(type(img))
-
-  # While ROS is still running.
-  while not rospy.is_shutdown():
-    pub.publish(br.cv2_to_imgmsg(img, encoding='bgr8'))
-
-    # Sleep just enough to maintain the desired rate
-    rate.sleep()
+def main():
+    rclpy.init()
+    node = PngPub()
+    rclpy.spin(node)
 
 if __name__ == '__main__':
-  try:
-    publish_message()
-  except rospy.ROSInterruptException as e:
-    raise e
+  main()

mrobosub_perception/setup.py

@@ -27,6 +27,7 @@
             'pathmarker_hsv= mrobosub_perception.pathmarker_hsv:main',
             'ml_executor = mrobosub_perception.ml_executor:main',
             'ml_srv = mrobosub_perception.ml_srv:main',
+            'png_pub = mrobosub_perception.png_pub:main'
         ],
     },
 )