cam and vid node

Author: the-anh-hoang

ros2_ws/src/extermination_package/extermination_package/__init__.py

@@ -0,0 +1,127 @@
+import os
+import cv2
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+class CameraNode(Node):
+    def __init__(self):
+        super().__init__('camera_node')
+
+        # Parameters
+        self.declare_parameter('input_type', 'video')  # 'video' or 'image'
+        self.declare_parameter('input_path', '') # no video path yet  
+        self.declare_parameter('frame_rate', 10)  # Frames per second for video
+
+        # Get parameters
+        self.input_type = self.get_parameter('input_type').get_parameter_value().string_value
+        self.input_path = self.get_parameter('input_path').get_parameter_value().string_value
+        self.frame_rate = self.get_parameter('frame_rate').get_parameter_value().integer_value
+
+        # Resolve input path
+        if not os.path.isabs(self.input_path):
+            self.input_path = os.path.join(os.getcwd(), self.input_path)
+
+        # Initialize input source
+        self.bridge = CvBridge()
+        self.robot_state = 'stopped'  # Default state
+        self.video_capture = None
+
+        if self.input_type == 'video':
+            self.init_video()
+        elif self.input_type == 'image':
+            self.init_image()
+        else:
+            self.get_logger().error(f"Invalid input_type: {self.input_type}. Use 'video' or 'image'.")
+            self.destroy_node()
+
+        # ROS 2 communication
+        self.state_subscription = self.create_subscription(
+            String,
+            '/robot_state',
+            self.state_callback,
+            10
+        )
+        self.image_publisher = self.create_publisher(Image, '/camera/image_raw', 10)
+
+        self.get_logger().info('CameraNode has been started.')
+
+    def init_video(self):
+        """Initialize video input."""
+        self.video_capture = cv2.VideoCapture(self.input_path)
+        if not self.video_capture.isOpened():
+            self.get_logger().error(f"Failed to open video: {self.input_path}")
+            self.destroy_node()
+
+    def init_image(self):
+        """Initialize static image input."""
+        if not os.path.exists(self.input_path):
+            self.get_logger().error(f"Image file not found: {self.input_path}")
+            self.destroy_node()
+        self.static_image = cv2.imread(self.input_path)
+        if self.static_image is None:
+            self.get_logger().error(f"Failed to read image: {self.input_path}")
+            self.destroy_node()
+
+    def state_callback(self, msg):
+        """Callback for /robot_state topic."""
+        self.robot_state = msg.data
+        self.get_logger().info(f'Received robot state: {self.robot_state}')
+
+        if self.robot_state == 'moving' and self.input_type == 'video':
+            self.start_continuous_capture()
+        elif self.robot_state == 'stopped':
+            self.capture_static_image()
+
+    def start_continuous_capture(self):
+        """Continuously capture and publish frames from the video."""
+        self.get_logger().info('Robot is moving. Starting continuous video capture...')
+        while self.robot_state == 'moving' and rclpy.ok():
+            success, frame = self.video_capture.read()
+            if success:
+                self.publish_image(frame)
+            else:
+                self.get_logger().info('End of video reached. Restarting...')
+                self.video_capture.set(cv2.CAP_PROP_POS_FRAMES, 0)
+
+    def capture_static_image(self):
+        """Publish a single static image."""
+        self.get_logger().info('Robot is stopped. Publishing static image...')
+        if self.input_type == 'image':
+            self.publish_image(self.static_image)
+        elif self.input_type == 'video':
+            # Publish the last frame from the video
+            success, frame = self.video_capture.read()
+            if success:
+                self.publish_image(frame)
+
+    def publish_image(self, frame):
+        """Convert and publish an image to the /camera/image_raw topic."""
+        try:
+            ros_image = self.bridge.cv2_to_imgmsg(frame, encoding='bgr8')
+            self.image_publisher.publish(ros_image)
+            self.get_logger().info('Published image to /camera/image_raw.')
+        except Exception as e:
+            self.get_logger().error(f'Failed to publish image: {e}')
+
+    def destroy_node(self):
+        """Clean up resources."""
+        if self.video_capture is not None:
+            self.video_capture.release()
+        super().destroy_node()
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = CameraNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

ros2_ws/src/extermination_package/extermination_package/camera_node.py

@@ -0,0 +1,80 @@
+import os
+import cv2
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+class VideoNode(Node):
+    def __init__(self):
+        super().__init__('video_node')
+
+        # Declare parameters
+        self.declare_parameter('video_path', '')  # no video yet
+        self.declare_parameter('loop', -1)  # -1 = loop forever, 0 = no loop, >0 = loop count
+        self.declare_parameter('frame_rate', 10) 
+
+        # Get parameters
+        self.video_path = self.get_parameter('video_path').get_parameter_value().string_value
+        self.loop = self.get_parameter('loop').get_parameter_value().integer_value
+        self.frame_rate = self.get_parameter('frame_rate').get_parameter_value().integer_value
+
+        # Resolve video path
+        if not os.path.isabs(self.video_path):
+            self.video_path = os.path.join(os.getcwd(), self.video_path)
+
+        # Initialize video capture
+        self.bridge = CvBridge()
+        self.loop_count = 0
+        self.vr = None
+        self.open_video()
+
+        # ROS 2 publisher
+        self.image_publisher = self.create_publisher(Image, '/camera/image_raw', 10)
+
+        # Timer for publishing frames
+        self.timer = self.create_timer(1.0 / self.frame_rate, self.publish_frame)
+
+    def open_video(self):
+        """Open the video file."""
+        self.vr = cv2.VideoCapture(self.video_path)
+        if not self.vr.isOpened():
+            self.get_logger().error(f"Failed to open video: {self.video_path}")
+            self.destroy_node()
+
+    def publish_frame(self):
+        """Publish a single frame from the video."""
+        success, frame = self.vr.read()
+        if success:
+            # Convert frame to ROS 2 Image message
+            ros_image = self.bridge.cv2_to_imgmsg(frame, encoding='bgr8')
+            self.image_publisher.publish(ros_image)
+            self.get_logger().info('Published a frame.')
+        else:
+            # Handle end of video
+            if self.loop == -1 or self.loop_count < self.loop:
+                self.loop_count += 1
+                self.open_video()
+            else:
+                self.get_logger().info('Finished playing video.')
+                self.destroy_node()
+
+    def destroy_node(self):
+        """Clean up resources."""
+        if self.vr is not None:
+            self.vr.release()
+        super().destroy_node()
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = VideoNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

ros2_ws/src/extermination_package/extermination_package/video_node.py

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>extermination_package</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="theanhhoang0201@gmail.com">vscode</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2_ws/src/extermination_package/package.xml

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/extermination_package
+[install]
+install_scripts=$base/lib/extermination_package

ros2_ws/src/extermination_package/resource/extermination_package

@@ -0,0 +1,27 @@
+from setuptools import find_packages, setup
+
+package_name = 'extermination_package'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='vscode',
+    maintainer_email='theanhhoang0201@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'camera_node = extermination_package.camera_node:main',
+            'video_node = extermination_package.video_node:main',
+        ],
+    },
+)

ros2_ws/src/extermination_package/setup.cfg

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros2_ws/src/extermination_package/setup.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

ros2_ws/src/extermination_package/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'