updated audio node name and removed prints

vz_acoustic_scene_analysis/launch/wav_audio.launch

@@ -1,4 +1,4 @@
 <launch>
     <rosparam ns="VZ_ACOUSTIC_SCENE_ANALYSIS" command="load" file="$(find vz_acoustic_scene_analysis)/config/audio_params.yaml" />
-    <node name="stretch_audio" pkg="vz_acoustic_scene_analysis" type="stretch_audio.py" output="screen" />
+    <node name="stretch_audio" pkg="vz_acoustic_scene_analysis" type="ros_interface.py" output="screen" />
   </launch>

vz_acoustic_scene_analysis/scripts/stretch_audio.py → vz_acoustic_scene_analysis/scripts/ros_interface.py

@@ -222,6 +222,7 @@ class ROSInterface:
         self.sequence_size = 3 # self.secs/self.chunk_size
         if (self.record_count % self.sequence_size == 0):
             return_list =  self.wav_list
+            print("Collected %d seconds of audio" %(self.secs))
             # Remove fist two objects in array to remove 0.2 seconds of audio data from array
             self.wav_list.pop(0)
             self.wav_list.pop(0)
@@ -245,8 +246,6 @@ class ROSInterface:
         for i in range(0, arr_length):
             data = stream.read(CHUNK)
             a = np.frombuffer(data,dtype=np.int16)[0::6] # extracts fused channel 0
-            print("a type: ", type(a[0]))
-            print("a length: ", len(a))
             self.audio_data_pub.publish(a)
             frames.append(a.tobytes())
         
@@ -275,10 +274,9 @@ class ROSInterface:
                         if(isinstance(wav_data, list)):
                             # flatten list
                             flat_list = [item for sublist in wav_data for item in sublist]
-                            print(type(flat_list[0]))
                             # Call of Utku's function
                             self.cough_prob = dsp.classify_cough(flat_list,RESPEAKER_RATE,self.loaded_model,self.loaded_scaler)
-                            print(self.cough_prob)
+                            print("%d %% probability of cough" %(self.cough_prob))
                             # do something with probability (publish?)
         except usb.core.USBError:
             print('Respeaker not on USB bus')

vz_ros_wrappers/launch/D435i_and_Lepton.launch

@@ -4,5 +4,7 @@
       <node pkg="image_transport" type="republish" name="D435iCompressed"
             args="raw in:=/D435i/image_raw compressed out:=/D435i/image_raw" />
       <!-- Flip images and display when collecting data? -->
-      <param name="flip_images_grab_data" type="bool" value="true" />      
+      <param name="flip_images_grab_data" type="bool" value="true" />
+      <param name="rgbd_topic" type="string" value="/D435i/image_raw" />
+      <param name="thermal_topic" type="string" value="/Lepton/image_raw" />      
   </launch>

vz_ros_wrappers/scripts/grab_D435i.py

@@ -44,10 +44,13 @@ class D435i:
         self.D435i_cap = cv2.VideoCapture('/dev/video4')
         # self.D435i_cap = cv2.VideoCapture('/home/ananya/Downloads/2022-02-09-16-20-58(2).mp4')
 
+        # Get topic parameter
+        self.rgbd_topic = rospy.get_param("rgbd_topic")
+
         if not self.D435i_cap.isOpened():
             raise(Exception,'Unable to open video stream')
         self.bridge = CvBridge()
-        self.D435i_pub = rospy.Publisher('/D435i/image_raw', Image, queue_size=100)
+        self.D435i_pub = rospy.Publisher(self.rgbd_topic, Image, queue_size=100)
         self.timer = rospy.Timer(rospy.Duration(0, UPDATE_RATE), self.publish_image)
         self.timer_display = rospy.Timer(rospy.Duration(0, UPDATE_RATE), self.display_images)
 

vz_ros_wrappers/scripts/grab_thermal.py

@@ -49,11 +49,14 @@ class FLIR_LEPTON:
 
         self.thermal_cap = cv2.VideoCapture('/dev/video6')
         # self.thermal_cap = cv2.VideoCapture('/home/ananya/Downloads/Thermal-3(2).mp4')
+
+        # Get topic parameter
+        self.thermal_topic = rospy.get_param("thermal_topic")
         
         if not self.thermal_cap.isOpened():
             raise(Exception,'Unable to open video stream')
         self.bridge = CvBridge()
-        self.thermal_pub = rospy.Publisher('/flir_3_5_near_realsense_raw', Image, queue_size=100)
+        self.thermal_pub = rospy.Publisher(self.thermal_topic, Image, queue_size=100)
         self.timer = rospy.Timer(rospy.Duration(0, UPDATE_RATE), self.publish_image)
         self.timer_display = rospy.Timer(rospy.Duration(0, UPDATE_RATE), self.display_images)