From 25fe0091e68b974028d6a62c600afb6b816013ba Mon Sep 17 00:00:00 2001
From: yul <yul@yu-li.eu>
Date: Mon, 5 Feb 2024 06:24:36 +0100
Subject: [PATCH] .

---
 src/tutorial_pkg/launch/my_launch_file.launch | 13 +++++++++++++
 src/tutorial_pkg/src/my_first_node.cpp        | 12 ++++++++++++
 2 files changed, 25 insertions(+)

diff --git a/src/tutorial_pkg/launch/my_launch_file.launch b/src/tutorial_pkg/launch/my_launch_file.launch
index b5cdd5d..9819592 100644
--- a/src/tutorial_pkg/launch/my_launch_file.launch
+++ b/src/tutorial_pkg/launch/my_launch_file.launch
@@ -1,5 +1,18 @@
 <launch>
+
+   <arg name="use_gazebo" default="false"/>
+
+   <include unless="$(arg use_gazebo)" file="$(find astra_camera)/launch/astra.launch"/>
+   <include if="$(arg use_gazebo)" file="$(find rosbot_bringup)/launch/rosbot_tutorial.launch"/>
+
    <node pkg="tutorial_pkg" type="my_first_node" name="my_first_node" output="screen"/>
       <param name="timer_period_s" value="2"/>
    </node>
+
+   <node pkg="image_view" type="image_saver" name="image_saver" output="screen">
+      <remap from="/image" to="/camera/color/image_raw"/>
+      <remap from="/camera_info" to="/camera/color/camera_info"/>
+      <param name="save_all_image" value="false" />
+   </node>
+
 </launch>
\ No newline at end of file
diff --git a/src/tutorial_pkg/src/my_first_node.cpp b/src/tutorial_pkg/src/my_first_node.cpp
index 864288a..3aed9aa 100644
--- a/src/tutorial_pkg/src/my_first_node.cpp
+++ b/src/tutorial_pkg/src/my_first_node.cpp
@@ -2,6 +2,9 @@
 #include <sensor_msgs/Image.h>
 #include <std_msgs/UInt8.h>
 #include <std_srvs/Empty.h>
+#include <std_srvs/Trigger.h>
+
+uint saved_imgs = 0;
 
 ros::Publisher brightness_pub;
 ros::ServiceClient client;
@@ -26,6 +29,14 @@ void timerCallback(const ros::TimerEvent&)
 
     std_srvs::Empty srv;
     client.call(srv);
+    saved_imgs++;
+}
+
+bool saved_img(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
+{
+    res.success = 1;
+    res.message = "Saved images: " + std::to_string(saved_imgs);
+    return true;
 }
 
 int main(int argc, char **argv)
@@ -40,6 +51,7 @@ int main(int argc, char **argv)
     brightness_pub = n.advertise<std_msgs::UInt8>("brightness", 1);
     ros::Timer timer = n.createTimer(ros::Duration(timer_period_s), timerCallback);
     client = n.serviceClient<std_srvs::Empty>("/image_saver/save");
+    ros::ServiceServer service = n.advertiseService("image_counter", saved_img);
 
     ROS_INFO("Node started!");
     ros::spin();