Create thresholding node to red using HSV #165
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theochemel
approved these changes
Nov 27, 2023
| self._cv_bridge : CvBridge = CvBridge() | ||
| self._publisher : rospy.Publisher = rospy.Publisher('starter_task/thresholded_img', Image, queue_size=5) | ||
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| rospy.Subscriber('/kf/vehicle/oakd_bottom/stereo/right/image_color', Image, self.filter) |
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Shouldn't need to hardcode /kf here. Using vehicle/... (no leading /) will set the /kf automatically using ROS namespacing if the launch file is set up properly.
| self._publisher.publish(result) | ||
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| def set_threshold(self, req): | ||
| self._lower_threshold = np.array([req.hue, req.saturation, req.value]) |
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Very nice touch with the service
| print("running!") | ||
| rospy.init_node('starter_threshold') | ||
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| self._lower_threshold : np.ndarray = LOWER_THRESHOLD |
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Good style with naming, underscores, and type hints
| from cv_bridge import CvBridge | ||
| from tauv_common.srv import SetThresholdRequest, SetThresholdResponse | ||
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| LOWER_THRESHOLD = np.array([0, 60, 60]) # TODO: figure out typing for threshold |
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Try moving these to be ros params
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Wrote starter task node that thresholds for red in HSV colorspace.
Currently unsure about how to properly set up launch files / service.