Added new camera node, finished up most of UDEV with real names

rover/tutorial/CMakeLists.txt

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+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}
+#)

rover/tutorial/include/image_transport_tutorial/resized_publisher.h

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+#include <image_transport/simple_publisher_plugin.h>
+#include <image_transport_tutorial/ResizedImage.h>
+
+class ResizedPublisher : public image_transport::SimplePublisherPlugin<image_transport_tutorial::ResizedImage>
+{
+public:
+  virtual std::string getTransportName() const
+  {
+    return "resized";
+  }
+
+protected:
+  virtual void publish(const sensor_msgs::Image& message,
+                       const PublishFn& publish_fn) const;
+};

rover/tutorial/include/image_transport_tutorial/resized_subscriber.h

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+#include <image_transport/simple_subscriber_plugin.h>
+#include <image_transport_tutorial/ResizedImage.h>
+
+class ResizedSubscriber : public image_transport::SimpleSubscriberPlugin<image_transport_tutorial::ResizedImage>
+{
+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);
+};

rover/tutorial/msg/ResizedImage.msg

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+uint32 original_height
+uint32 original_width
+sensor_msgs/Image image

rover/tutorial/package.xml

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+<package>
+  <name>image_transport_tutorial</name>
+  <version>0.0.0</version>
+  <description>Tutorial for image_transport. This is useful for the tutorials at http://wiki.ros.org/image_transport/Tutorials/</description>
+  <author>Vincent Rabaud</author>
+  <maintainer email="vincent.rabaud@gmail.com">Vincent Rabaud</maintainer>
+  <license>Apache 2.0</license>
+
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>opencv2</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>opencv2</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <export>
+    <image_transport plugin="${prefix}/resized_plugins.xml"/>
+  </export>
+</package>

rover/tutorial/resized_plugins.xml

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+<library path="lib/libresized_image_transport">
+  <class name="resized_pub" type="ResizedPublisher" base_class_type="image_transport::PublisherPlugin">
+    <description>
+      This plugin publishes a decimated version of the image.
+    </description>
+  </class>
+
+  <class name="resized_sub" type="ResizedSubscriber" base_class_type="image_transport::SubscriberPlugin">
+    <description>
+      This plugin rescales a decimated image to its original size.
+    </description>
+  </class>
+</library>

rover/tutorial/src/manifest.cpp

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+#include <pluginlib/class_list_macros.h>
+#include <image_transport_tutorial/resized_publisher.h>
+#include <image_transport_tutorial/resized_subscriber.h>
+
+PLUGINLIB_EXPORT_CLASS(ResizedPublisher, image_transport::PublisherPlugin)
+
+PLUGINLIB_EXPORT_CLASS(ResizedSubscriber, image_transport::SubscriberPlugin)

rover/tutorial/src/my_publisher.cpp

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+#include <string.h>
+#include <iostream>
+
+#include <ros/ros.h>
+#include <ros/console.h>
+#include <image_transport/image_transport.h>
+#include <opencv2/opencv.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include <cv_bridge/cv_bridge.h>
+
+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();
+    }
+}
+

rover/tutorial/src/my_subscriber.cpp

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+#include <ros/ros.h>
+#include <image_transport/image_transport.h>
+#include <opencv2/highgui/highgui.hpp>
+#include <cv_bridge/cv_bridge.h>
+
+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");
+}

rover/tutorial/src/resized_publisher.cpp

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+#include <image_transport_tutorial/resized_publisher.h>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <cv_bridge/cv_bridge.h>
+
+void ResizedPublisher::publish(const sensor_msgs::Image& message,
+                               const PublishFn& publish_fn) const
+{
+  cv::Mat cv_image;
+  boost::shared_ptr<void const> 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<double>("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);
+}

rover/tutorial/src/resized_subscriber.cpp

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+#include <image_transport_tutorial/resized_subscriber.h>
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/imgproc/imgproc.hpp>
+
+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<void const> 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());
+};