Turned modified tutorial publisher into actual rover_camera node

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();
+    }
+}