Turned modified tutorial publisher into actual rover_camera node

rover/rover_camera/CMakeLists.txt

@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 2.8)
+project(rover_camera)
+
+find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport message_generation sensor_msgs)
+
+# add the resized image message
+
+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(rover_camera src/rover_camera.cpp)
+add_dependencies(rover_camera ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+target_link_libraries(rover_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+
+# Mark executables and/or libraries for installation
+install(TARGETS rover_camera
+  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/rover_camera/launch/example.launch

@@ -0,0 +1,22 @@
+<launch>
+  <group ns="cameras">
+    <node name="camera_name" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" output="screen">
+      <param name="device_path" value="/dev/video0"/>
+    </node>
+
+    <!--
+    <node name="main_navigation" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 2" output="screen" >
+      <param name="device_path" value="/dev/rover/camera_main_navigation" />
+    </node>
+
+    <node name="gimbal" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" output="screen" >
+      <param name="device_path" value="/dev/rover/camera_gimbal" />
+    </node>
+  -->
+
+  </group>
+
+  <node name="image_view" pkg="image_view" type="image_view" launch-prefix="taskset -c 4" output="screen">
+    <remap from="image" to="/cameras/camera_name/image_720p"/>
+  </node>
+</launch>

rover/rover_camera/package.xml

@@ -0,0 +1,23 @@
+<package>
+  <name>rover_camera</name>
+  <version>0.0.0</version>
+  <description>This package opens a camera on linux using OpenCV and publishes multiple streams at different resolutions</description>
+  <author>Corwin Perren</author>
+  <maintainer email="caperren@gmail.com">Corwin Perren</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>
+
+</package>

rover/rover_camera/src/rover_camera.cpp

@@ -0,0 +1,73 @@
+#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();
+    }
+}