initial commit (fix for extermination node)

workspace_python/ros2_ws/src/custom_interfaces/CMakeLists.txt

@@ -35,4 +35,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package()
+ament_package()

workspace_python/ros2_ws/src/custom_interfaces/package.xml

@@ -22,4 +22,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>

workspace_python/ros2_ws/src/python_workspace/README.md

@@ -79,4 +79,3 @@ To view the image topic :
 2. click refresh topic 
 3. select the name of the image topic you want to see
 
-

workspace_python/ros2_ws/src/python_workspace/launch/debugging.py

@@ -124,4 +124,4 @@ def generate_launch_description():
                 {'precision': LaunchConfiguration('precision')}
             ]
         ),
-    ])
+    ])

workspace_python/ros2_ws/src/python_workspace/launch/launch.py

@@ -123,4 +123,4 @@ def generate_launch_description():
                 {'precision': LaunchConfiguration('precision')}
             ]
         ),
-    ])
+    ])

workspace_python/ros2_ws/src/python_workspace/python_workspace/extermination_node.py

@@ -15,7 +15,6 @@
 from sensor_msgs.msg import Image
 from custom_interfaces.msg import InferenceOutput                            # CHANGE
 from .scripts.utils import ModelInference
-from std_msgs.msg import String  # Example message type
 
 # cuda.init()
 # device = cuda.Device(0)
@@ -24,7 +23,7 @@
 class ExterminationNode(Node):
     def __init__(self):
         super().__init__('extermination_node')
-
+        
         self.declare_parameter('use_display_node', True)
         # self.declare_parameter('lower_range', [78, 158, 124]) #todo: make this a parameter
         # self.declare_parameter('upper_range', [60, 255, 255])
@@ -49,24 +48,26 @@ def __init__(self):
         #     side_topic = 'right_array_data'
         #     if self.use_display_node:
         #         self.window = "Right Camera"
-
+        
         self.boxes_present = 0
         self.window = "Left Camera"
         self.model = ModelInference()
         self.bridge = CvBridge()
         # Open serial port to Arduino
         self.ser = serial.Serial('/dev/ttyACM0', 115200, timeout=1)
-        self.subscription = self.create_subscription(InferenceOutput, 'inference_out', self.inference_callback, 10)
-
+
         # Create a timer that calls the listener_callback every second
         self.timer = self.create_timer(1.0, self.timer_callback)
-
+
+        self.subscription = self.create_subscription(InferenceOutput, 'inference_out', self.inference_callback, 10)
         time.sleep(2)  # Wait for Arduino to reset
 
+
     def inference_callback(self, msg):
         preprocessed_image = self.bridge.imgmsg_to_cv2(msg.preprocessed_image, desired_encoding='passthrough')
         raw_image = self.bridge.imgmsg_to_cv2(msg.raw_image, desired_encoding='passthrough')
 
+
         bounding_boxes = self.model.postprocess(msg.confidences.data,msg.bounding_boxes.data, raw_image,msg.velocity)
 
         final_image = self.model.draw_boxes(raw_image,bounding_boxes,velocity=msg.velocity)
@@ -87,6 +88,7 @@ def timer_callback(self):
         self.ser.write(serialized_msg.encode())
         self.get_logger().info(f'Sent to Arduino: {self.boxes_present}')
 
+
 def main(args=None):
     rclpy.init(args=args)
     extermination_node = ExterminationNode()

workspace_python/ros2_ws/src/python_workspace/python_workspace/picture_node.py

@@ -21,9 +21,10 @@ class PictureNode(Node):
     def __init__(self):
         super().__init__('picture_node')
 
-        self.declare_parameter('static_image_path', '/home/user/ROS/assets/maize/IMG_1822_14.JPG')
+        self.declare_parameter('static_image_path', '/home/usr/Desktop/ROS/assets/IMG_1822_14.JPG')
         self.declare_parameter('loop', 0)  # 0 = don't loop, >0 = # of loops, -1 = loop forever
         self.declare_parameter('frame_rate', 1)  # Desired frame rate for publishing
+
 
         self.static_image_path = self.get_parameter('static_image_path').get_parameter_value().string_value
         # Resolve the path programmatically