diff --git a/environment_reference/UDEV Rules/99-rover-cameras.rules b/environment_reference/UDEV Rules/99-rover-cameras.rules
index 3dbeb02..0ed9276 100644
--- a/environment_reference/UDEV Rules/99-rover-cameras.rules
+++ b/environment_reference/UDEV Rules/99-rover-cameras.rules
@@ -3,13 +3,13 @@
# SUBSYSTEM=="video4linux",ATTRS{idVendor}=="0x046d",ATTRS{idProduct}=="0x082d",NAME="videoext"
# The zed camera
-KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="2b03", ATTRS{idProduct}=="f580", SYMLINK+="rover/cam_zed"
+KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="2b03", ATTRS{idProduct}=="f580", SYMLINK+="rover/camera_zed"
# The first C920 Webcam
-KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="082d", ATTRS{serial}=="B9A8A5FF", SYMLINK+="rover/cam_undercarriage"
+KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="082d", ATTRS{serial}=="B9A8A5FF", SYMLINK+="rover/camera_undercarriage"
# The second C920 Webcam
-KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="082d", ATTRS{serial}=="A98AA5FF", SYMLINK+="rover/cam_grasper"
+KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="082d", ATTRS{serial}=="A98AA5FF", SYMLINK+="rover/camera_gimbal"
# The special main nav cam
-KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9422", ATTRS{serial}=="SN0001", SYMLINK+="rover/cam_main_nav"
+KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9422", ATTRS{serial}=="SN0001", SYMLINK+="rover/camera_main_navigation"
diff --git a/environment_reference/UDEV Rules/99-rover-usb-serial.rules b/environment_reference/UDEV Rules/99-rover-usb-serial.rules
index 553d26e..cb616b8 100644
--- a/environment_reference/UDEV Rules/99-rover-usb-serial.rules
+++ b/environment_reference/UDEV Rules/99-rover-usb-serial.rules
@@ -1 +1,7 @@
-SUBSYSTEM=="tty", ATTRS{serial}=="A5027JQW", SYMLINK+="rover/ttyARM"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyDEV0"
+
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyDEV1"
+
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyDEV2"
+
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyDEV3"
diff --git a/rover/rover_cameras/CMakeLists.txt b/rover/rover_cameras/CMakeLists.txt
new file mode 100644
index 0000000..d0422e7
--- /dev/null
+++ b/rover/rover_cameras/CMakeLists.txt
@@ -0,0 +1,197 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rover_cameras)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ rospy
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES rover_cameras
+# CATKIN_DEPENDS rospy
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/rover_cameras.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/rover_cameras_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_rover_cameras.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/rover/rover_cameras/launch/camera_launches/gimbal/gimbal_camera_360p.launch b/rover/rover_cameras/launch/camera_launches/gimbal/gimbal_camera_360p.launch
new file mode 100644
index 0000000..b3599e2
--- /dev/null
+++ b/rover/rover_cameras/launch/camera_launches/gimbal/gimbal_camera_360p.launch
@@ -0,0 +1,9 @@
+
+
+
+
+
+
+
+
+
diff --git a/rover/rover_cameras/launch/camera_launches/gimbal/gimbal_camera_720p.launch b/rover/rover_cameras/launch/camera_launches/gimbal/gimbal_camera_720p.launch
new file mode 100644
index 0000000..754fd87
--- /dev/null
+++ b/rover/rover_cameras/launch/camera_launches/gimbal/gimbal_camera_720p.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/rover/rover_cameras/launch/camera_launches/main_navigation/main_navigation_camera_360p.launch b/rover/rover_cameras/launch/camera_launches/main_navigation/main_navigation_camera_360p.launch
new file mode 100644
index 0000000..092db23
--- /dev/null
+++ b/rover/rover_cameras/launch/camera_launches/main_navigation/main_navigation_camera_360p.launch
@@ -0,0 +1,9 @@
+
+
+
+
+
+
+
+
+
diff --git a/rover/rover_cameras/launch/camera_launches/main_navigation/main_navigation_camera_720p.launch b/rover/rover_cameras/launch/camera_launches/main_navigation/main_navigation_camera_720p.launch
new file mode 100644
index 0000000..e3df6b0
--- /dev/null
+++ b/rover/rover_cameras/launch/camera_launches/main_navigation/main_navigation_camera_720p.launch
@@ -0,0 +1,9 @@
+
+
+
+
+
+
+
+
+
diff --git a/rover/rover_cameras/launch/camera_launches/undercarriage/undercarriage_camera_360p.launch b/rover/rover_cameras/launch/camera_launches/undercarriage/undercarriage_camera_360p.launch
new file mode 100644
index 0000000..0e21498
--- /dev/null
+++ b/rover/rover_cameras/launch/camera_launches/undercarriage/undercarriage_camera_360p.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/rover/rover_cameras/launch/camera_launches/undercarriage/undercarriage_camera_720p.launch b/rover/rover_cameras/launch/camera_launches/undercarriage/undercarriage_camera_720p.launch
new file mode 100644
index 0000000..51ed160
--- /dev/null
+++ b/rover/rover_cameras/launch/camera_launches/undercarriage/undercarriage_camera_720p.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/rover/rover_cameras/package.xml b/rover/rover_cameras/package.xml
new file mode 100644
index 0000000..b12fd0c
--- /dev/null
+++ b/rover/rover_cameras/package.xml
@@ -0,0 +1,62 @@
+
+
+ rover_cameras
+ 0.0.0
+ The rover_cameras package
+
+
+
+
+ nvidia
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ rospy
+ rospy
+ rospy
+
+
+
+
+
+
+
+
diff --git a/rover/rover/CMakeLists.txt b/rover/rover_main/CMakeLists.txt
similarity index 100%
rename from rover/rover/CMakeLists.txt
rename to rover/rover_main/CMakeLists.txt
diff --git a/rover/rover_main/launch/rover_main.launch b/rover/rover_main/launch/rover_main.launch
new file mode 100644
index 0000000..d6b38e1
--- /dev/null
+++ b/rover/rover_main/launch/rover_main.launch
@@ -0,0 +1,19 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/rover/rover/package.xml b/rover/rover_main/package.xml
similarity index 100%
rename from rover/rover/package.xml
rename to rover/rover_main/package.xml
diff --git a/rover/tutorial/CMakeLists.txt b/rover/tutorial/CMakeLists.txt
new file mode 100644
index 0000000..b40fe74
--- /dev/null
+++ b/rover/tutorial/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 2.8)
+project(image_transport_tutorial)
+
+find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport message_generation sensor_msgs)
+
+# add the resized image message
+add_message_files(DIRECTORY msg
+ FILES ResizedImage.msg
+)
+generate_messages(DEPENDENCIES sensor_msgs)
+
+catkin_package(CATKIN_DEPENDS cv_bridge image_transport message_runtime sensor_msgs)
+
+find_package(OpenCV)
+
+include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+
+# add the publisher example
+add_executable(my_publisher src/my_publisher.cpp)
+add_dependencies(my_publisher ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+target_link_libraries(my_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+# add the subscriber example
+#add_executable(my_subscriber src/my_subscriber.cpp)
+#add_dependencies(my_subscriber ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+#target_link_libraries(my_subscriber ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+# add the plugin example
+#add_library(resized_publisher src/manifest.cpp src/resized_publisher.cpp src/resized_subscriber.cpp)
+#add_dependencies(resized_publisher ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+#target_link_libraries(resized_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+
+# Mark executables and/or libraries for installation
+install(TARGETS my_publisher
+ ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+#install(FILES resized_plugins.xml
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+#)
diff --git a/rover/tutorial/include/image_transport_tutorial/resized_publisher.h b/rover/tutorial/include/image_transport_tutorial/resized_publisher.h
new file mode 100644
index 0000000..63ab3eb
--- /dev/null
+++ b/rover/tutorial/include/image_transport_tutorial/resized_publisher.h
@@ -0,0 +1,15 @@
+#include
+#include
+
+class ResizedPublisher : public image_transport::SimplePublisherPlugin
+{
+public:
+ virtual std::string getTransportName() const
+ {
+ return "resized";
+ }
+
+protected:
+ virtual void publish(const sensor_msgs::Image& message,
+ const PublishFn& publish_fn) const;
+};
diff --git a/rover/tutorial/include/image_transport_tutorial/resized_subscriber.h b/rover/tutorial/include/image_transport_tutorial/resized_subscriber.h
new file mode 100644
index 0000000..94b55f5
--- /dev/null
+++ b/rover/tutorial/include/image_transport_tutorial/resized_subscriber.h
@@ -0,0 +1,17 @@
+#include
+#include
+
+class ResizedSubscriber : public image_transport::SimpleSubscriberPlugin
+{
+public:
+ virtual ~ResizedSubscriber() {}
+
+ virtual std::string getTransportName() const
+ {
+ return "resized";
+ }
+
+protected:
+ virtual void internalCallback(const typename image_transport_tutorial::ResizedImage::ConstPtr& message,
+ const Callback& user_cb);
+};
diff --git a/rover/tutorial/msg/ResizedImage.msg b/rover/tutorial/msg/ResizedImage.msg
new file mode 100644
index 0000000..d8c8fad
--- /dev/null
+++ b/rover/tutorial/msg/ResizedImage.msg
@@ -0,0 +1,3 @@
+uint32 original_height
+uint32 original_width
+sensor_msgs/Image image
diff --git a/rover/tutorial/package.xml b/rover/tutorial/package.xml
new file mode 100644
index 0000000..668cd0a
--- /dev/null
+++ b/rover/tutorial/package.xml
@@ -0,0 +1,26 @@
+
+ image_transport_tutorial
+ 0.0.0
+ Tutorial for image_transport. This is useful for the tutorials at http://wiki.ros.org/image_transport/Tutorials/
+ Vincent Rabaud
+ Vincent Rabaud
+ Apache 2.0
+
+ cv_bridge
+ image_transport
+ message_generation
+ opencv2
+ sensor_msgs
+
+ cv_bridge
+ image_transport
+ message_runtime
+ opencv2
+ sensor_msgs
+
+ catkin
+
+
+
+
+
diff --git a/rover/tutorial/resized_plugins.xml b/rover/tutorial/resized_plugins.xml
new file mode 100644
index 0000000..bd2dff1
--- /dev/null
+++ b/rover/tutorial/resized_plugins.xml
@@ -0,0 +1,13 @@
+
+
+
+ This plugin publishes a decimated version of the image.
+
+
+
+
+
+ This plugin rescales a decimated image to its original size.
+
+
+
diff --git a/rover/tutorial/src/manifest.cpp b/rover/tutorial/src/manifest.cpp
new file mode 100644
index 0000000..ab20819
--- /dev/null
+++ b/rover/tutorial/src/manifest.cpp
@@ -0,0 +1,7 @@
+#include
+#include
+#include
+
+PLUGINLIB_EXPORT_CLASS(ResizedPublisher, image_transport::PublisherPlugin)
+
+PLUGINLIB_EXPORT_CLASS(ResizedSubscriber, image_transport::SubscriberPlugin)
diff --git a/rover/tutorial/src/my_publisher.cpp b/rover/tutorial/src/my_publisher.cpp
new file mode 100644
index 0000000..60f8ec9
--- /dev/null
+++ b/rover/tutorial/src/my_publisher.cpp
@@ -0,0 +1,74 @@
+#include
+#include
+
+#include
+#include
+#include
+#include
+#include
+
+#include
+
+int main(int argc, char** argv)
+{
+ std::string capture_device_path;
+ int fps;
+
+ int large_image_width;
+ int large_image_height;
+ int small_image_width;
+ int small_image_height;
+
+ ros::init(argc, argv, "camera");
+ ros::NodeHandle node_handle("~");
+
+ node_handle.param("device_path", capture_device_path, std::string("/dev/video0"));
+ node_handle.param("fps", fps, 30);
+
+ node_handle.param("large_image_width", large_image_width, 1280);
+ node_handle.param("large_image_height", large_image_height, 720);
+ node_handle.param("small_image_width", small_image_width, 640);
+ node_handle.param("small_image_height", small_image_height, 360);
+
+ cv::VideoCapture cap(capture_device_path);
+
+ cap.set(CV_CAP_PROP_FOURCC, CV_FOURCC('M', 'J', 'P', 'G'));
+ cap.set(CV_CAP_PROP_FRAME_WIDTH, large_image_width);
+ cap.set(CV_CAP_PROP_FRAME_HEIGHT, large_image_height);
+ cap.set(CV_CAP_PROP_FPS, fps);
+
+ if(cap.isOpened() == false){
+ return -1;
+ }
+
+ image_transport::ImageTransport full_res_image_transport(node_handle);
+ image_transport::ImageTransport lower_res_image_transport(node_handle);
+
+ image_transport::Publisher full_size_publisher = full_res_image_transport.advertise("image_720p", 1);
+ image_transport::Publisher lower_size_publisher = lower_res_image_transport.advertise("image_360p", 1);
+
+ cv::Mat image;
+ cv::Mat image_smaller;
+
+ ros::Rate loop_rate(fps + 5);
+
+
+ while (node_handle.ok()) {
+
+ cap.read(image);
+
+ if(!image.empty()){
+ cv::resize(image, image_smaller, cv::Size(small_image_width, small_image_height));
+
+ sensor_msgs::ImagePtr full_res_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
+ sensor_msgs::ImagePtr lower_res_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_smaller).toImageMsg();
+
+ full_size_publisher.publish(full_res_message);
+ lower_size_publisher.publish(lower_res_message);
+ }
+
+ ros::spinOnce();
+ loop_rate.sleep();
+ }
+}
+
diff --git a/rover/tutorial/src/my_subscriber.cpp b/rover/tutorial/src/my_subscriber.cpp
new file mode 100644
index 0000000..b6310f4
--- /dev/null
+++ b/rover/tutorial/src/my_subscriber.cpp
@@ -0,0 +1,29 @@
+#include
+#include
+#include
+#include
+
+void imageCallback(const sensor_msgs::ImageConstPtr& msg)
+{
+ try
+ {
+ cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
+ cv::waitKey(10);
+ }
+ catch (cv_bridge::Exception& e)
+ {
+ ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
+ }
+}
+
+int main(int argc, char **argv)
+{
+ ros::init(argc, argv, "image_listener");
+ ros::NodeHandle nh;
+ cv::namedWindow("view");
+ cv::startWindowThread();
+ image_transport::ImageTransport it(nh);
+ image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
+ ros::spin();
+ cv::destroyWindow("view");
+}
diff --git a/rover/tutorial/src/resized_publisher.cpp b/rover/tutorial/src/resized_publisher.cpp
new file mode 100644
index 0000000..178f482
--- /dev/null
+++ b/rover/tutorial/src/resized_publisher.cpp
@@ -0,0 +1,37 @@
+#include
+#include
+#include
+
+void ResizedPublisher::publish(const sensor_msgs::Image& message,
+ const PublishFn& publish_fn) const
+{
+ cv::Mat cv_image;
+ boost::shared_ptr tracked_object;
+ try
+ {
+ cv_image = cv_bridge::toCvShare(message, tracked_object, message.encoding)->image;
+ }
+ catch (cv::Exception &e)
+ {
+ ROS_ERROR("Could not convert from '%s' to '%s'.", message.encoding.c_str(), message.encoding.c_str());
+ return;
+ }
+
+ // Retrieve subsampling factor from the parameter server
+ double subsampling_factor;
+ std::string param_name;
+ nh().param("resized_image_transport_subsampling_factor", subsampling_factor, 2.0);
+
+ // Rescale image
+ int new_width = cv_image.cols / subsampling_factor + 0.5;
+ int new_height = cv_image.rows / subsampling_factor + 0.5;
+ cv::Mat buffer;
+ cv::resize(cv_image, buffer, cv::Size(new_width, new_height));
+
+ // Set up ResizedImage and publish
+ image_transport_tutorial::ResizedImage resized_image;
+ resized_image.original_height = cv_image.rows;
+ resized_image.original_width = cv_image.cols;
+ resized_image.image = *(cv_bridge::CvImage(message.header, "bgr8", cv_image).toImageMsg());
+ publish_fn(resized_image);
+}
diff --git a/rover/tutorial/src/resized_subscriber.cpp b/rover/tutorial/src/resized_subscriber.cpp
new file mode 100644
index 0000000..299dc83
--- /dev/null
+++ b/rover/tutorial/src/resized_subscriber.cpp
@@ -0,0 +1,18 @@
+#include
+#include
+#include
+
+void ResizedSubscriber::internalCallback(const image_transport_tutorial::ResizedImage::ConstPtr& msg,
+ const Callback& user_cb)
+{
+ // This is only for optimization, not to copy the image
+ boost::shared_ptr tracked_object_tmp;
+ cv::Mat img_rsz = cv_bridge::toCvShare(msg->image, tracked_object_tmp)->image;
+ // Resize the image to its original size
+ cv::Mat img_restored;
+ cv::resize(img_rsz, img_restored, cv::Size(msg->original_width, msg->original_height));
+
+ // Call the user callback with the restored image
+ cv_bridge::CvImage cv_img(msg->image.header, msg->image.encoding, img_restored);
+ user_cb(cv_img.toImageMsg());
+};