Merge branch 'main' of https://github.com/mcgill-robotics/rover into …

…main

angular_ui_app/src/app/components/drive/drive.component.ts

@@ -39,7 +39,7 @@ export class DriveComponent {
 
     this.gamepadService.connectControllerGamepad(
       (input_dir: { [key: string]: number | boolean }) => {
-        this.gamepad_drive_pub.publish({data: [input_dir['a2'], input_dir['a4']]});
+        this.gamepad_drive_pub.publish({data: [-input_dir['a2'], -input_dir['a4']]});
 
         if (input_dir['up']) {
           this.pantilt_pitch = this.clamp(this.pantilt_pitch + this.angle_delta);

angular_ui_app/src/app/constants.ts

@@ -1,5 +1,5 @@
 export class AppConstants {
-    // public static get HOST_IP(): string { return '192.168.1.69'; }
+    public static get HOST_IP(): string { return '192.168.1.69'; }
     // public static get HOST_IP(): string { return '10.122.8.160'; }
-    public static get HOST_IP(): string { return 'localhost'; }
+    // public static get HOST_IP(): string { return 'localhost'; }
 }

angular_ui_app/src/app/pages/drive-page/drive-page.component.html

@@ -3,6 +3,7 @@
     <div style="display: flex; justify-content: space-between; margin-bottom: 5px;">
         <div>
             <app-camera camera_size="large"/>
+            <!-- <app-backup-camera cameraTopic="/camera_frames" /> -->
             <app-drive-component/>
         </div>
 

camera_data/src/camera_publisher.py

@@ -1,61 +1,29 @@
-#!/usr/bin/env python3
-import os, sys
-from pydoc_data.topics import topics
+#!/usr/bin/env python
 
-currentdir = os.path.dirname(os.path.realpath(__file__))
-sys.path.append(currentdir)
 import rospy
-import cv2
-import time
-from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
-from std_msgs.msg import Int16
-from PyQt5 import QtGui
-import sys
-
-stop = False
-
-class Node_CameraFramePub():
-
-    def __init__(self):
-        self.frames = None
-        self.video_capture = cv2.VideoCapture(0, cv2.CAP_V4L2)
-        self.video_capture.open(0)
-
-        rospy.init_node('camera_frame_publisher')
-        self.camera_select_subscriber = rospy.Subscriber("camera_selection", Int16, self.select_camera)
-        self.timer = rospy.Timer(rospy.Duration(0.03), self.timer_callback)
-        self.camera_frame_publisher = rospy.Publisher('/camera_frames', Image, queue_size=10)
-
-    def timer_callback(self, event):
-        try:
-            ret, frame = self.video_capture.read()
-            # these code cause error
-            encode_params = [int(cv2.IMWRITE_JPEG_QUALITY), 90]
-            result, frame = cv2.imencode(".jpg", frame, encode_params)
-            self.frames = self.openCV_to_ros_image(frame)
-            if ret:
-                print("Publishing frame")
-                self.camera_frame_publisher.publish(self.frames)
-        except:
-            print("No camera found")
-        finally:
-            pass
-
-    def openCV_to_ros_image(self, cv_image):
-        try:
-            bridge = CvBridge()
-            ros_image = bridge.cv2_to_imgmsg(cv_image, encoding="passthrough")
-            return ros_image
-        except:
-            print("Cannot translate image correctly")
-
-    def select_camera(self, x):
-        self.video_capture.release()
-        self.video_capture.open(x.data * 2)
-        print(x.data)
-
+from cv_bridge import CvBridge
+import cv2
 
-if __name__ == "__main__":
-    driver = Node_CameraFramePub()
-    rospy.spin()
+def webcam_publisher():
+    rospy.init_node('webcam_publisher', anonymous=True)
+    pub = rospy.Publisher('camera_frames', Image, queue_size=10)
+    rate = rospy.Rate(30) # 10hz
+
+    cap = cv2.VideoCapture(0) # Open the first webcam
+    bridge = CvBridge()
+
+    while not rospy.is_shutdown():
+        ret, frame = cap.read()
+        if ret:
+            # Convert the frame to ROS format
+            ros_image = bridge.cv2_to_imgmsg(frame, "bgr8")
+            # Publish the frame
+            pub.publish(ros_image)
+        rate.sleep()
+
+if __name__ == '__main__':
+    try:
+        webcam_publisher()
+    except rospy.ROSInterruptException:
+        pass

camera_data/src/camera_subscriber.py

@@ -20,7 +20,6 @@ def __init__(self):
 
     def display_frames(self, frame):
         self.frames = self.ros_to_openCV_image(frame)
-        self.frames = cv2.imdecode(self.frames, 1)
         print(self.frames.shape)
         cv2.imshow("Live Feed", self.frames)
         cv2.waitKey(10)  # Look into to reduce latency