Submission of Riya Mittal, 220901

README.md

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 # SIV-ROS Submissions
 **Sensor Integration and Visualisation in ROS**
 
-Submission repository for assignments of SIV-ROS project of Robotics Club 2023-24.
-
-## Objective
-
-- Introduce and familiarise mentees with ROS, Gazebo and Rviz
-- Integrate the following in ROS:
-  - Motor Encoders for Odometry data
-  - LiDAR for SLAM (RPLiDAR A1M8 360 Degree)
-  - IMU (MPU6050)
-  - GPS (NEO-M8N GPS Module)
-- **Simultaneously** take input from the sensors and visualise all the data in Rviz.
-- Use teleop through ssh or use another kind of remote control along with gmapping node to use SLAM for creating the map of an environment in Rviz.
-
-### Folder Structure
-
-```bash
-
-SIV-ROS-Submissions
-├── Assignment-1
-│   ├── 210353_DivyaGupta
-│   │   ├── README.md
-│   │   └── src
-│   ├── 210369_EmaadAhmed
-│   │   ├── README.md
-│   │   └── src
-│   └── 210684_OmShivamVerma
-│       ├── README.md
-│       └── src
-├── LICENSE
-└── README.md
-
-```
-
-#### How to Submit
-
-Create a **fork** of this repository. This fork is where you will add all the solutions of your assignments. After creating your fork, and making some changes (your solutions), create a pull request with the title: ```Submission of <Name>, <Roll No.>```. This pull request should be created only once, 
-
-Here ```src``` is the _source_ folder of your workspace. Also, create the ```README.md``` containing a brief description of what you have done.
-
-## Assignment-1
-
-**Aim:** Understanding nodes, topics, and their connection with sensors.
-
-**Task:**
-Create a package - “Image_processes” that can subscribe and publish topics from given nodes:
-1. Node1 -: Publish webcam image frames to the topic “Webcam_img”. (“Webcam_img” topic takes image frames from webcam as data).
-2. Node2 -: It will subscribe to the topic “Webcam_img” and publish data to the topic “Webcam_cropped”. (“Webcam_cropped” topic has image frames from webcam and crop  it by 30% in pixels).
-3. Node3 -: It will subscribe to the topic “Webcam_cropped” and show it.
-
-**Edit:** Create a launch file named ```image_cropping.launch``` which launches all the nodes at once.
+ASSIGNMENT-1
+#create a catkin workspace
+mkdir catkin_ws
+cd catkin_ws
+mkdir src
+catkin_make
+cdc
+source ~/catkin_ws/devel/setup.bash
+
+#create a new package "image_processes"
+cd ~/catkin_ws/src
+catkin_create_pkg image_processes rospy cv2 cv_bridge sensor_msgs
+
+#create three nodes
+cd ~/catkin_ws/src/image_processes
+mkdir scripts
+cd scripts
+touch node1.py
+chmod node1.py
+touch node2.py
+chmod node2.py
+touch node3.py
+cd ../..
+code .
+writing three nodes' code
+
+run roscore in one terminal and then run three nodes in three terminal windows
+=======

node1.py

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+#!/usr/bin/env python3
+
+import rospy
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+
+def node1():
+    rospy.init_node('node1', anonymous=True)
+    rate = rospy.Rate(10)  # 10 Hz
+
+    pub = rospy.Publisher('Webcam_img', Image, queue_size=10)
+    bridge = CvBridge()
+
+    while not rospy.is_shutdown():
+        # Capture image frames from webcam
+        image_frame = capture_image_from_webcam()
+
+        # Convert the image to a ROS message
+        ros_image = bridge.cv2_to_imgmsg(image_frame, encoding='bgr8')
+
+        # Publish the image frame
+        pub.publish(ros_image)
+        rate.sleep()
+
+def capture_image_from_webcam():
+    # Open the webcam (usually with device index 0)
+    cap = cv2.VideoCapture(0)
+    cv2.waitKey(0)
+
+    # Check if the webcam is successfully opened
+    if not cap.isOpened():
+        print("Failed to open the webcam")
+        return None
+
+    # Capture frames from the webcam
+    ret, frame = cap.read()
+
+    # Release the webcam
+    cap.release()
+
+    # Check if the frame is captured successfully
+    if not ret:
+        print("Failed to capture frame from the webcam")
+        return None
+
+    return frame
+
+if __name__ == '__main__':
+    try:
+        node1()
+    except rospy.ROSInterruptException:
+        pass

node123.launch

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+<launch>
+
+    <node pkg="image_processes" name="node1" type="node1.py">
+    </node>
+    <node pkg="image_processes" name="node2" type="node2.py">
+    </node>
+    <node pkg="image_processes" name="node3" type="node3.py">
+    </node>
+</launch>    

node2.py

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+#!/usr/bin/env python3
+import cv2
+from cv_bridge import CvBridge
+import rospy
+from sensor_msgs.msg import Image
+pub = rospy.Publisher('Webcam_cropped', Image, queue_size=10)
+def node2():
+    rospy.init_node('node2', anonymous=True)
+    rate = rospy.Rate(10)  # 10 Hz
+
+
+    rospy.Subscriber('Webcam_img', Image, process_image_callback)
+
+    while not rospy.is_shutdown():
+        rate.sleep()
+
+def process_image_callback(image_frame):
+    # Crop the image frame by 30% in pixels
+    cv_bridge = CvBridge()
+    cv_image = cv_bridge.imgmsg_to_cv2(image_frame, desired_encoding='bgr8')
+
+    height, width = cv_image.shape[:2]
+    new_width = int(width*0.7)
+    new_height = int(height*0.7)
+    start_x = int((width - new_width) / 2)
+    start_y = int((height - new_height) / 2)
+    cropped_image = cv_image[start_y:start_y + new_height, start_x:start_x + new_width]
+    image_frame= cv_bridge.cv2_to_imgmsg(cropped_image, encoding='bgr8')
+
+    # Publish the cropped image
+    pub.publish(image_frame)
+
+#def crop_image(image):
+
+    # Crop the image by 30% in pixels using appropriate image processing libraries
+    # Return the cropped image
+
+if __name__ == '__main__':
+    try:
+        node2()
+
+
+    except rospy.ROSInterruptException:
+        pass

node3.py

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+#!/usr/bin/env python3
+
+import rospy
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+
+def node3():
+    rospy.init_node('node3', anonymous=True)
+    rospy.Subscriber('Webcam_cropped', Image, show_image_callback)
+
+    rospy.spin()
+
+def show_image_callback(image_frame):
+    # Convert the ROS image message to OpenCV format
+    cv_bridge = CvBridge()
+    cv_image = cv_bridge.imgmsg_to_cv2(image_frame, desired_encoding='bgr8')
+
+    # Display the image using OpenCV (you may need to adjust the window name)
+    cv2.imshow('Webcam_cropped', cv_image)
+    cv2.waitKey(1)  # Refresh the display
+
+if __name__ == '__main__':
+    try:
+        node3()
+    except rospy.ROSInterruptException:
+        pass