improved remote startup

.gitignore

@@ -30,3 +30,7 @@ jetson_camera_node/src/mediapipe_node/__pycache__/udp.cpython-36.pyc
 jetson_camera_node/src/mediapipe_node/model/__pycache__/__init__.cpython-36.pyc
 jetson_camera_node/src/mediapipe_node/model/keypoint_classifier/__pycache__/keypoint_classifier.cpython-36.pyc
 .gitignore
+jetson_camera_node/src/mediapipe_node/__pycache__/hand_data.cpython-36.pyc
+jetson_camera_node/src/mediapipe_node/__pycache__/udp.cpython-36.pyc
+jetson_camera_node/src/mediapipe_node/model/__pycache__/__init__.cpython-36.pyc
+jetson_camera_node/src/mediapipe_node/model/keypoint_classifier/__pycache__/keypoint_classifier.cpython-36.pyc

jetson_camera_node/launch/start_distributed.launch → jetson_camera_node/launch/start_distributed_graph.launch

@@ -4,6 +4,9 @@
         <arg name="ip" value="192.168.1.146" /> 
         <arg name="ip_suffix" value="192_168_1_146" /> 
         <arg name="calibration_name" value="middle" /> 
+        <!-- <arg name="cam_width" value="640" /> 
+        <arg name="cam_height" value="480" /> 
+        <arg name="cam_rate" value="30" />  -->
     </include>
 
     <include file="$(find jetson_camera_node)/launch/start_single_distributed_tracking.launch">

jetson_camera_node/launch/start_single_distributed_tracking.launch

@@ -3,9 +3,14 @@
     <arg name="ip" /> 
     <arg name="ip_suffix" /> 
     <arg name="calibration_name" /> 
+    <arg name="cam_width" default="424" /> 
+    <arg name="cam_height" default="240" /> 
+    <arg name="cam_rate" default="15" /> 
 
     <machine name="$(arg calibration_name)" address="$(arg ip)" user="k354jn1" password="t" env-loader="$(find jetson_camera_node)/launch/setup_env.sh" default="false" />
 
-    <node machine="$(arg calibration_name)" name="cam_data_processor_$(arg ip_suffix)" pkg="jetson_camera_node" type="main_node" args="_calibration_dir:=calibration/$(arg calibration_name)" respawn="true" output="screen"/>
-    <node machine="$(arg calibration_name)" name="hand_tracker_$(arg ip_suffix)" pkg="jetson_camera_node" type="hand_tracker.py" respawn="true" output="screen"/>
+    <node machine="$(arg calibration_name)" name="cam_data_processor_$(arg ip_suffix)" pkg="jetson_camera_node" type="main_node" 
+            args="_calibration_dir:=calibration/$(arg calibration_name) _cam_res_height:=$(arg cam_height) _cam_res_width:=$(arg cam_width) _cam_rate:=$(arg cam_rate) _debug:=false" 
+            respawn="true" output="screen"/>
+    <node machine="$(arg calibration_name)" name="hands_tracker_$(arg ip_suffix)" pkg="jetson_camera_node" type="hand_tracker.py" respawn="true" output="screen"/>
 </launch>

jetson_camera_node/src/mediapipe_node/main_node_processor.py

@@ -40,7 +40,7 @@ def __init__(self, node_names, debug = True):
         self.right_pcl_publisher = rospy.Publisher("hands_point_clouds/right", PointCloud2, queue_size=1)
 
     def __init_subscribers(self, node_names):
-        if len(node_names) == 0: ValueError("Check node names!")
+        if len(node_names) == 0: raise ValueError("No nodes were found! Check node names!")
         subs = []
         for node_name in node_names:
             topic_name = node_name + config.hands_data_topic
@@ -166,7 +166,8 @@ def __get_most_frequent_category_or_first(self, list):
         return occurence_count.most_common(1)[0][0]
 
 def find_all_hand_tracker_nodes():
-    return sorted(list(filter(lambda t: t.startswith("/"+ config.hands_tracker_node_name), rosnode.get_node_names())))
+    print(rosnode.get_node_names())
+    return sorted(list(filter(lambda t: t.startswith("/"+config.hands_tracker_node_name), rosnode.get_node_names())))
 
 if __name__ == "__main__":
     proc = DataAggregateProcessor(find_all_hand_tracker_nodes())