Small adjustments to make the ROS Image topics (from the Camera Capture and...

Small adjustments to make the ROS Image topics (from the Camera Capture and Aruco Detector nodes) compatible with the web_video_server node from the Robot Web Tools initiative.

catkin_ws/src/asclinic_pkg/CMakeLists.txt

@@ -13,6 +13,8 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
   std_msgs
   geometry_msgs
+  sensor_msgs
+  cv_bridge
   genmsg
   roslib
 )
@@ -88,6 +90,7 @@ generate_messages(
   DEPENDENCIES
   std_msgs
   geometry_msgs
+  sensor_msgs
 )
 
 ################################################
@@ -127,7 +130,14 @@ generate_messages(
 # )
 
 catkin_package(
-  CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs roslib
+  CATKIN_DEPENDS
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+  sensor_msgs
+  cv_bridge
+  roslib
 )
 
 ###########

catkin_ws/src/asclinic_pkg/launch/web_video_server.launch

+<launch>
+	<!-- LAUNCH A WEB VIDEO SERVER NODE -->
+	<node
+		pkg    = "web_video_server"
+		name   = "web_video_server"
+		output = "screen"
+		type   = "web_video_server"
+		>
+		<param name="port" type="int" value="8080"/>
+		<param name="server_threads" type="int" value="1"/>
+		<param name="ros_threads" type="int" value="3"/>
+	</node>
+</launch>

catkin_ws/src/asclinic_pkg/package.xml

@@ -57,6 +57,8 @@
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>cv_bridge</build_depend>
   <build_depend>genmsgs</build_depend>
   <build_depend>roslib</build_depend>
 
@@ -64,11 +66,15 @@
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>cv_bridge</build_export_depend>
 
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>cv_bridge</exec_depend>
   <exec_depend>roslib</exec_depend>
 
 

catkin_ws/src/asclinic_pkg/src/nodes/aruco_capture.py

@@ -67,7 +67,7 @@ import cv2
 import cv2.aruco as aruco
 
 # Package to convert between ROS and OpenCV Images
-from cv_bridge import CvBridge
+from cv_bridge import CvBridge, CvBridgeError
 
 
 
@@ -94,7 +94,7 @@ SAVE_IMAGE_PATH = "~/saved_camera_images/"
 SHOULD_SHOW_IMAGES = False
 
 # > A flag for whether to publish the images captured
-SHOULD_PUBLISH_CAMERA_IMAGES = False
+SHOULD_PUBLISH_CAMERA_IMAGES = True
 
 
 
@@ -366,12 +366,15 @@ class ArucoDetector:
                 # Display that no aruco markers were found
                 #rospy.loginfo("[ARUCO DETECTOR] No markers found in this image")
                 # Set the frame variable that is used for save/display/publish
-                current_frame_with_marker_outlines = current_frame_gray
+                current_frame_with_marker_outlines = current_frame
 
             # Publish the camera frame
             if (SHOULD_PUBLISH_CAMERA_IMAGES):
                 #rospy.loginfo("[ARUCO DETECTOR] Now publishing camera frame")
-                self.image_publisher.publish(self.cv_bridge.cv2_to_imgmsg(current_frame))
+                try:
+                    self.image_publisher.publish(self.cv_bridge.cv2_to_imgmsg(current_frame_with_marker_outlines, "bgr8"))
+                except CvBridgeError as cv_bridge_err:
+                    print(cv_bridge_err)
 
             # Save the camera frame if requested
             if (self.should_save_image):

catkin_ws/src/asclinic_pkg/src/nodes/camera_capture.py

@@ -50,7 +50,7 @@ from sensor_msgs.msg import Image
 import cv2
 
 # Package to convert between ROS and OpenCV Images
-from cv_bridge import CvBridge
+from cv_bridge import CvBridge, CvBridgeError
 
 
 
@@ -226,7 +226,10 @@ class CameraCapture:
         if (return_flag == True):
             # Publish the camera frame
             rospy.loginfo("[CAMERA CAPTURE] Now publishing camera frame")
-            self.image_publisher.publish(self.cv_bridge.cv2_to_imgmsg(current_frame))
+            try:
+                self.image_publisher.publish(self.cv_bridge.cv2_to_imgmsg(current_frame, "bgr8"))
+            except CvBridgeError as cv_bridge_err:
+                print(cv_bridge_err)
 
             if (SHOULD_SAVE_CHESSBOARD_IMAGES):
                 # Check if the camera frame contains a calibration