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whats-up-with-my-life
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This commit is contained in:
yul 2024-02-05 06:24:36 +01:00
parent c5c0dcf2d5
commit 25fe0091e6
2 changed files with 25 additions and 0 deletions
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13
src/tutorial_pkg/launch/my_launch_file.launch
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@ -1,5 +1,18 @@
<launch> <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"/> <node pkg="tutorial_pkg" type="my_first_node" name="my_first_node" output="screen"/>
<param name="timer_period_s" value="2"/> <param name="timer_period_s" value="2"/>
</node> </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> </launch>

12
src/tutorial_pkg/src/my_first_node.cpp
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@ -2,6 +2,9 @@
#include <sensor_msgs/Image.h> #include <sensor_msgs/Image.h>
#include <std_msgs/UInt8.h> #include <std_msgs/UInt8.h>
#include <std_srvs/Empty.h> #include <std_srvs/Empty.h>
#include <std_srvs/Trigger.h>
uint saved_imgs = 0;
ros::Publisher brightness_pub; ros::Publisher brightness_pub;
ros::ServiceClient client; ros::ServiceClient client;
@ -26,6 +29,14 @@ void timerCallback(const ros::TimerEvent&)
std_srvs::Empty srv; std_srvs::Empty srv;
client.call(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) 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); brightness_pub = n.advertise<std_msgs::UInt8>("brightness", 1);
ros::Timer timer = n.createTimer(ros::Duration(timer_period_s), timerCallback); ros::Timer timer = n.createTimer(ros::Duration(timer_period_s), timerCallback);
client = n.serviceClient<std_srvs::Empty>("/image_saver/save"); client = n.serviceClient<std_srvs::Empty>("/image_saver/save");
ros::ServiceServer service = n.advertiseService("image_counter", saved_img);
ROS_INFO("Node started!"); ROS_INFO("Node started!");
ros::spin(); ros::spin();