Added test capability for laptop webcam

people_tracking/test/test_with_webcam.launch

@@ -0,0 +1,16 @@
+<launch>
+<node
+    pkg="people_tracking"
+    type="yolo.py"
+    name="listener"
+    output="screen"
+  />
+
+  <node
+    pkg="people_tracking"
+    type="webcam.py"
+    name="webcam_pub"
+    output="screen"
+  />
+
+</launch>

people_tracking/test/webcam.py

@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+# Basics ROS program to publish real-time streaming
+# video from your built-in webcam
+# https://automaticaddison.com/working-with-ros-and-opencv-in-ros-noetic/
+
+# Import the necessary libraries
+import rospy  # Python library for ROS
+from sensor_msgs.msg import Image  # Image is the message type
+from cv_bridge import CvBridge  # Package to convert between ROS and OpenCV Images
+import cv2  # OpenCV library
+
+
+def publish_message():
+    # Node is publishing to the video_frames topic using
+    # the message type Image
+    pub = rospy.Publisher('video_frames', Image, queue_size=10)
+
+    # Tells rospy the name of the node.
+    # Anonymous = True makes sure the node has a unique name. Random
+    # numbers are added to the end of the name.
+    rospy.init_node('video_pub_py', anonymous=True)
+
+    # Go through the loop 10 times per second
+    rate = rospy.Rate(30)  # 10hz
+
+    # Create a VideoCapture object
+    # The argument '0' gets the default webcam.
+    cap = cv2.VideoCapture(0)
+
+    # Used to convert between ROS and OpenCV images
+    br = CvBridge()
+
+    # While ROS is still running.
+    while not rospy.is_shutdown():
+
+        # Capture frame-by-frame
+        # This method returns True/False as well
+        # as the video frame.
+        ret, frame = cap.read()
+
+        if ret == True:
+            # Print debugging information to the terminal
+            # rospy.loginfo('publishing video frame')
+
+            # Publish the image.
+            # The 'cv2_to_imgmsg' method converts an OpenCV
+            # image to a ROS image message
+            pub.publish(br.cv2_to_imgmsg(frame))
+
+        # Sleep just enough to maintain the desired rate
+        rate.sleep()
+
+
+if __name__ == '__main__':
+    try:
+        publish_message()
+    except rospy.ROSInterruptException:
+        pass
+    rospy.spin()

people_tracking/yolo.py

@@ -51,8 +51,9 @@ def __init__(self) -> None:
         self.table_class = 0 #table class defined with index 60 (person = 0)
 
         rospy.init_node('listener', anonymous=True)
-        self.publisher = rospy.Publisher('/hero/segmented_image',Image)
-        self.subscriber = rospy.Subscriber('/hero/head_rgbd_sensor/rgb/image_raw',Image , self.callback)
+        self.publisher = rospy.Publisher('/hero/segmented_image', Image)
+        # self.subscriber = rospy.Subscriber('/hero/head_rgbd_sensor/rgb/image_raw', Image, self.callback)
+        self.subscriber = rospy.Subscriber('video_frames', Image, self.callback)
 
     @staticmethod
     def detect(model, frame):
@@ -81,16 +82,18 @@ def callback(self, data):
         image_message = bridge.cv2_to_imgmsg(cv_image, encoding="passthrough")
         self.publisher.publish(image_message)
 
-    def listener():
+
+    def listener(self):
 
         # In ROS, nodes are uniquely named. If two nodes with the same
         # name are launched, the previous one is kicked off. The
         # anonymous=True flag means that rospy will choose a unique
         # name for our 'listener' node so that multiple listeners can
         # run simultaneously.
 
-
-        rospy.Subscriber('/hero/head_rgbd_sensor/rgb/image_raw',Image , callback)
+        rospy.loginfo("tesssssssssssssss")
+        # rospy.Subscriber('/hero/head_rgbd_sensor/rgb/image_raw',Image , callback)
+        rospy.Subscriber('video_frames',Image , callback)
 
         # spin() simply keeps python from exiting until this node is stopped
         rospy.spin()