adding intro task files

src/packages/tauv_common/launch/vision/intro_task.launch

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+<launch>
+<node pkg="tauv_common" type="intro_task" name="intro_task" output="screen">
+</node>
+</launch>

src/packages/tauv_common/scripts/intro_task

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+#!/usr/bin/env python3
+from vision.intro_task import intro_task
+
+if __name__ == "__main__":
+    intro_task.main()

src/packages/tauv_common/src/vision/intro_task/intro_task.py

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+#!/usr/bin/env python3
+
+import rospy
+import cv2
+import numpy as np
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+class find_red:
+    def __init__(self):
+        # "/kf/vehicle/oakd_bottom/color/camera_info"
+        self.c = CvBridge()
+        pub_name = "intro_task/new_image"
+        # sub_name = "/kf/vehicle/oakd_bottom/color/image_raw"
+        sub_name = "/kf/vehicle/oakd_bottom/stereo/right/image_color"
+
+        self.pub = rospy.Publisher(pub_name, Image, queue_size = 10)
+        self.imageSub = rospy.Subscriber(sub_name, Image, self.image_callback)
+        self.img = Image()
+        self.mask = Image()
+
+    def image_callback(self, msg):
+        self.img = self.c.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+        # img_thresh = cv2.threshold(self.img, low = (100, 0, 0))
+        # self.img = np.where(self.img[self.img[:,:,0] > 50, self.img, 0])
+        # mask = cv2.threshold(self.img, 200, 255, cv2.THRESH_BINARY_INV)
+
+        hsv = cv2.cvtColor(self.img, cv2.COLOR_BGR2HSV)
+        lower_red = np.array([160, 50, 50])
+        upper_red = np.array([180, 255, 255])
+        self.mask = cv2.inRange(hsv, lower_red, upper_red)
+        img = cv2.bitwise_and(self.img, self.img, mask=self.mask)
+        self.img = self.c.cv2_to_imgmsg(img)
+
+        self.pub.publish(self.img)
+        # self.pub.publish(self.mask)
+
+
+
+if __name__ == '__main__':
+    node_name = 'intro_task'
+    rospy.init_node(node_name)
+    find_red()
+    rospy.spin

src/packages/tauv_common/src/vision/intro_task/intro_task2.py

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+#!/usr/bin/env python3
+
+import rospy
+import rviz
+import cv2
+import numpy as np
+from sensor_msgs.msg import CameraInfo, Image
+from cv_bridge import CvBridge
+
+class handle_img:
+    def __init__(self):
+        self.c = CvBridge()
+
+        sub_name = "/kf/vehicle/oakd_bottom/color/new_image"
+
+        self.imageSub = rospy.Subscriber(sub_name, Image, self.image_callback)
+        self.img = Image()
+
+    def image_callback(self, msg):
+        self.img = msg
+        # self.frame
+
+
+
+if __name__ == '__main__':
+    rospy.init_node('new image topic')
+    handle_img()
+    rospy.spin