Arav/onboarding

.vscode/settings.json

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+{
+    "cmake.sourceDirectory": "/Users/aravrawat/Desktop/UT-RoboMasters/robomaster_cv/src/arav_package"
+}

src/arav_package/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(arav_package)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(arav_node src/arav_node.cpp)
+ament_target_dependencies(arav_node rclcpp sensor_msgs cv_bridge OpenCV)
+target_include_directories(arav_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(arav_node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+
+install(TARGETS arav_node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/arav_package/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>arav_package</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">admin</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>cv_bridge</depend>
+  <depend>OpenCV</depend>
+
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/arav_package/src/arav_node.cpp

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+#include <cstdio>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/opencv.hpp>
+
+using std::placeholders::_1;
+
+class AravNode : public rclcpp::Node {
+public:
+  AravNode() : Node("AravNode") {
+    printf("hello world arav_package package\n");
+    subscription_ = this->create_subscription<sensor_msgs::msg::Image>(
+    "image_raw", 10, std::bind(&AravNode::topic_callback, this, _1));
+  }
+
+private:
+  void topic_callback(const sensor_msgs::msg::Image::SharedPtr msg) const
+  {
+        cv_bridge::CvImagePtr cv_ptr;
+        cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
+        cv::Mat cv_image = cv_ptr->image;
+
+        cv::Mat gray_image;
+        cv::cvtColor(cv_image, gray_image, cv::COLOR_BGR2GRAY);
+        cv::imwrite("original_image.jpg", cv_image);
+        cv::imwrite("grayscale_image.jpg", gray_image);
+
+  }
+
+  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_;
+};
+
+int main(int argc, char ** argv)
+{
+  (void) argc;
+  (void) argv;
+
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<AravNode>());
+  rclcpp::shutdown();
+
+  return 0;
+}