tests

parent f342ba4f
......@@ -9,6 +9,7 @@ The Second part is built on the first one and it some nodes doing image processi
## NOTE:
The First part is totaly isolated from the second one and can be used on any Parrot Bebop Drone.
In this File , you can see how to use the first one, the second one is coming soon
## Using The Constant V Command
First Clone this repo in your catkin workspace
```
......
......@@ -22,6 +22,4 @@
</node>
<node pkg="drone_project" name="sendCommand" type="send_cmd.py">
</node>
<node pkg="drone_project" name="ComputeTarZ" type="compute_tar_z.py">
</node>
</launch>
\ No newline at end of file
<launch>
<node pkg="drone_project" name="ImageProcessing" type="image_proc.py">
<remap from="/image_in" to="/bebop/image_raw"/>
</node>
<node pkg="drone_project" name="ComputeTarZ" type="compute_tar_z.py">
</node>
</launch>
\ No newline at end of file
......@@ -23,10 +23,11 @@ import datetime
class image_convert:
def __init__(self):
self.pub = rospy.Publisher('/centroids', Float32, queue_size=1)
self.pub = rospy.Publisher("/centroids", Float32, queue_size=1)
self.pubDiff = rospy.Publisher('/sDiffs',Float32,queue_size=1)
self.pubForBag = rospy.Publisher('/imgForBag/front/compressed', CompressedImage, queue_size=1)
self.subscriber = rospy.Subscriber("/bebop/image_raw",Image, self.callback)
self.subscriber = rospy.Subscriber("/image_in",Image, self.callback)
self.lsd = cv2.createLineSegmentDetector(0)
self.real_centr = np.array([160,120])
self.old_centr = np.array([160,120])
......
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