def grab_and_save_img_execute_cb(self, grab_and_save_img_goal,
action_client, action_server):
grab_imgs_goal = GrabImagesGoal()
self.convert_goals(grab_and_save_img_goal, grab_imgs_goal)
action_client.send_goal(grab_imgs_goal)
action_client.wait_for_result(rospy.Duration.from_sec(10.0))
grab_imgs_result = action_client.get_result()
grab_and_save_img_result = GrabAndSaveImageResult()
if grab_imgs_result is not None and grab_imgs_result.success:
filename = grab_and_save_img_goal.img_storage_path_and_name
try:
cv_img = CvBridge().imgmsg_to_cv2(
grab_imgs_result.images[0], desired_encoding='passthrough')
except CvBridgeError as exception:
rospy.logerr('Error converting img_msg_to_cv_img: ' +
str(exception))
grab_and_save_img_result.success = False
rospy.loginfo('Writing image to ' + filename)
cv2.imwrite(filename, cv_img)
grab_and_save_img_result.success = True
else:
grab_and_save_img_result.success = False
action_server.set_succeeded(grab_and_save_img_result)
def trigger_cb(self, msg):
grab_imgs_goal = GrabImagesGoal()
grab_imgs_goal.exposure_given = True
grab_imgs_goal.exposure_times = [
rospy.get_param('~exposure_time', 20000.0)
]
grab_imgs_goal.gain_given = True
grab_imgs_goal.gain_values = [0.2]
grab_imgs_goal.gain_auto = False
self._grab_imgs_rect_ac.send_goal(grab_imgs_goal)
self._grab_imgs_rect_ac.wait_for_result(rospy.Duration.from_sec(10.0))
grab_imgs_result = self._grab_imgs_rect_ac.get_result()
rospy.loginfo("Got image")
if len(grab_imgs_result.images) > 0:
rospy.loginfo("publish image")
self.pub.publish(grab_imgs_result.images[0])