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Fixed camera failling to start and say text fixed #8

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Fixed camera failling to start and say text fixed #8

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4 changes: 2 additions & 2 deletions launch/driver.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
<rosparam param="source_list">["/vector/joint_states"]</rosparam>
</node>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
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ROS was complaining about a deprecation for this publisher

<param name="rate" value="10.0"/>
</node>

Expand Down Expand Up @@ -53,4 +53,4 @@
<param name="~forwardMovementOnly" value="false" />
<remap from="cmd_vel" to="/vector/cmd_vel" />
</node>
</launch>
</launch>
7 changes: 5 additions & 2 deletions nodes/vector_node.py
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Expand Up @@ -25,11 +25,14 @@

else:
async_robot = anki_vector.AsyncRobot()
async_robot.camera.init_camera_feed()
# async_robot.camera.init_camera_feed()

# connect to Vector
async_robot.connect()

# Camera feed?
async_robot.camera.init_camera_feed()
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Here, the client was not able to connect with the robot, it said that the client was doing something else and blocks after this.


# start all using shared AsyncRobot object
Vector(async_robot)
Animation(async_robot)
Expand All @@ -45,4 +48,4 @@
tf_thread = threading.Thread(target=JointStatesPublisher, args=(async_robot,))
tf_thread.start()

rospy.spin()
rospy.spin()
6 changes: 5 additions & 1 deletion src/vector_ros_driver/camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
import cv_bridge
import numpy

import cv2

from sensor_msgs.msg import Image

class Camera(object):
Expand All @@ -19,7 +21,9 @@ def publish_camera_feed(self):
bridge = cv_bridge.CvBridge()

while not rospy.is_shutdown():
image = bridge.cv2_to_imgmsg(numpy.asarray(self.async_robot.camera.latest_image), encoding="rgb8") # convert PIL.Image to ROS Image
raw_image = numpy.asarray(self.async_robot.camera.latest_image.raw_image)
# image = bridge.cv2_to_imgmsg(numpy.asarray(self.async_robot.camera.latest_image), encoding="rgb8") # convert PIL.Image to ROS Image
image = bridge.cv2_to_imgmsg(raw_image, encoding="rgb8") # convert PIL.Image to ROS Image
image.header.stamp = rospy.Time.now()
image.header.frame_id = self.image_frame_id
self.image_publisher.publish(image)
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2 changes: 1 addition & 1 deletion src/vector_ros_driver/vector.py
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Expand Up @@ -34,7 +34,7 @@ def battery_state_service_cb(self, request):
return response

def say_text_cb(self, request):
self.robot.say_text(request.text)
self.robot.behavior.say_text(request.text)
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Here, "behavior" was missing.


return SayTextResponse()

Expand Down